Evolution in nuclear strategy in US and Russia and its implications in arms control

Energy Technology Data Exchange (ETDEWEB)

Sokov, N

2003-07-01

Today, there is a growing tendency in war-fighting scenarios to include limited use of nuclear weapons. New developments in nuclear policy could be attributed to changes in the international situation like the multiplication of low level conflicts and the threat of terrorism. This paper analyzes the evolution of the Russian nuclear doctrine, the transformation of the US nuclear policy and their consequences on arms control. (J.S.)

Evolution in nuclear strategy in US and Russia and its implications in arms control

International Nuclear Information System (INIS)

Sokov, N.

2003-01-01

Today, there is a growing tendency in war-fighting scenarios to include limited use of nuclear weapons. New developments in nuclear policy could be attributed to changes in the international situation like the multiplication of low level conflicts and the threat of terrorism. This paper analyzes the evolution of the Russian nuclear doctrine, the transformation of the US nuclear policy and their consequences on arms control. (J.S.)

Cooperation of nuclear reactor controller ARM-5S and turbine TVER-02

International Nuclear Information System (INIS)

Wagner, K.; Lnenicka, B.; Pokorny, F.; Prochazka, F.

1985-01-01

Turbines of Czechoslovak make provided with controllers TVER-02 are installed in WWER-440 nuclear power plants under construction in Czechoslovakia. Reactor output is controlled using Soviet-made controllers ARM-5S which already comprise turbine controllers. The problems are analyzed of cooperation of both controllers, especially their parameters and transient processes in typical operating situations. The analysis uses the results of measurements performed during the power start-up of Unit 1 of the V-2 nuclear power plant at Jaslovske Bohunice. The results show that two types of control modes can be selected for the operation of the entire unit: the control to constant unit output, and control of unit output varying with turbine load selected on the TVER-02 controller or given by the demand of the power network. (Z.M.)

Nuclear Arms Race and Environment

OpenAIRE

Li, Anpeng

2012-01-01

This paper introduces a new factor, environment, into nuclear arms race model. In this model, nuclear weapons produce larger defense power compared with conventional arms, but hurt the environment meanwhile. In the global welfare maximum level, both conventional and nuclear weapons budget are zero. However, the competitive equilibrium may not achieve the optimum. I give the condition to jump out of the prisoner's dilemma.

Systems Approach to Arms Control Verification

Energy Technology Data Exchange (ETDEWEB)

Allen, K; Neimeyer, I; Listner, C; Stein, G; Chen, C; Dreicer, M

2015-05-15

Using the decades of experience of developing concepts and technologies for verifying bilateral and multilateral arms control agreements, a broad conceptual systems approach is being developed that takes into account varying levels of information and risk. The IAEA has already demonstrated the applicability of a systems approach by implementing safeguards at the State level, with acquisition path analysis as the key element. In order to test whether such an approach could also be implemented for arms control verification, an exercise was conducted in November 2014 at the JRC ITU Ispra. Based on the scenario of a hypothetical treaty between two model nuclear weapons states aimed at capping their nuclear arsenals at existing levels, the goal of this exercise was to explore how to use acquisition path analysis in an arms control context. Our contribution will present the scenario, objectives and results of this exercise, and attempt to define future workshops aimed at further developing verification measures that will deter or detect treaty violations.

Nuclear Sanctions: Section 102(b) of the Arms Export Control Act and its Application to India and Pakistan

National Research Council Canada - National Science Library

Grimmett, Jeanne J

2001-01-01

Section 102(b) of the Arms Export Control Act (AECA) requires the President to impose sanctions on any country that he has determined is a "non-nuclear-weapon state" and has received or detonated a "nuclear explosive device...

Keeping the lid on nuclear arms

International Nuclear Information System (INIS)

Milhollin, G.; Weeks, J.

1991-01-01

In November 1990 Brazil and Argentina agreed not to produce nuclear weapons and to allow mutual inspections of their secret nuclear sites. This exciting move towards nuclear arms control may form the basis of a model of international inspection which other countries may seek to follow. However, neither country will yet unconditionally accept the verification scale proposed by the International Atomic Energy Agency (IAEA). The IAEA seeks to ensure that civilian nuclear materials are not diverted for military use. Military authorities in both countries oppose the plan. It is anticipated that existing difficulties will be overcome. (UK)

JPRS Report Arms Control

National Research Council Canada - National Science Library

1993-01-01

Table of Contents: (1) COMMONWEALTH OF INDEPENDENT STATES - (A) GENERAL Flaws in U.S.-Russian SSD Agreement Viewed, Khariton - Espionage Not Crucial in Soviet Nuclear Arms Development, Further on Espionage Role in Nuclear Arms Projects...

The Implications of a New ERa in Arms Control -- Perspectives and Analysis

International Nuclear Information System (INIS)

Mladineo, Stephen V.; Durbin, Karyn R.; Indusi, Joseph P.; Smoot, John L.; Vannoni, Michael G.; Satkowiak, Lawrence J.

2004-01-01

On November 13, 2003 the INMM hosted a workshop in Washington, DC entitled 'The Implications of a New Era in Arms Control on Regional Nonproliferation and Nuclear Materials Management'. In this paper we summarize the workshop's highlights and provide our analysis of the dominant themes. Ambassador Linton Brooks, Administrator of the National Nuclear Security Agency (NNSA), delivered the keynote address and focused on four points that are key to understanding the new era: (1) The demise of traditional East/West arms control; (2) The new strategic relationship between Russia and the United States; (3) The blurring of the distinction between nonproliferation and counter-terrorism; (4) The growing recognition that the nonproliferation regime is no longer adequate and needs to be strengthened. He issued a set of challenges to the workshop participants: if his premises were right, what should replace the lexicon of arms control? He described a four-part strategy for nuclear materials protection in Russia, and asked if that model should be replicated globally - potentially by leveraging the new relationship with Russia. Should it be through the IAEA, bilaterally, or some other mechanism? Asserting that the old Nonproliferation Treaty regime was inadequate, he asked what should replace it, and how do we bring it about? Three panel discussions were presented: (1) Implications of a New Era in US/Russia Arms Control Agreements; (2) Implications of a New in Arms Control Upon Regional Nuclear Nonproliferation: South Asia/East Asia/Middle East; and (3) Nuclear Materials Management in a New Era of Arms Control In the first panel, Daryl Kimball, Executive Director of the Arms Control Association argued that arms control agreements provided predictability in the reduction of arms, and had been successful in advancing the methods of verification. Lucas Fischer, the Deputy Assistant Secretary for Arms Control at the US State Department acknowledged that INF and START provide a basis

Passive detection of nuclear-armed SLCMs

International Nuclear Information System (INIS)

Sagdeev, R.Z.; Prilutsky, O.F.; Frolov, V.A.

1992-01-01

Effective procedures have been developed, using national technical measures (photoreconnaissance satellites, radiointercept stations, etc.), for verification of reductions in land-based intercontinental ballistic missiles, such as marine-based ballistic missiles, and strategic bombers. However, there is agreement on procedures for verifying limitations of numbers of long-range nuclear-armed cruise missiles. The difficulties in developing such procedures are sometimes regarded (by opponents of nuclear disarmament) as a reason why cruise missiles based on ships and submarines ought not to be limited by future arms-reduction treaties. This paper considers the detectability of nuclear-armed cruise missiles through the penetrating radiation emitted spontaneously from their warheads

New concepts in nuclear arms control: verified cutoff and verified disposal

International Nuclear Information System (INIS)

Donnelly, W.H.

1990-01-01

Limiting the numbers of nuclear warheads by reducing military production and stockpiles of fissionable materials has been a constant item on the nuclear arms control agenda for the last 45 years. It has become more salient recently, however, because of two events: the enforced closure for safety reasons of the current United States military plutonium production facilities; and the possibility that the US and USSR may soon conclude an agreement providing for the verified destruction of significant numbers of nuclear warheads and the recovery of the fissionable material they contain with the option of transferring these materials to peaceful uses. A study has been made of the practical problems of verifying the cut off of fissionable material production for military purposes in the nuclear weapon states, as well as providing assurance that material recovered from warheads is not re-used for proscribed military purposes and facilitating its transfer to civil uses. Implementation of such measures would have important implications for non-proliferation. The resultant paper was presented to a meeting of the PPNN Core Group held in Baden, close to Vienna, over the weekend of 18/19th November 1989 and is reprinted in this booklet. (author)

New Horizons and New Strategies in Arms Control

Energy Technology Data Exchange (ETDEWEB)

Brown, J. editor

1998-12-04

In the last ten years, since the break-up of the Soviet Union, remarkable progress in arms control and disarmament has occurred. The Nuclear Non-Proliferation Treaty (NPT), the completion of the Comprehensive Test Ban Treaty (CTBT), and the Chemical Weapons Treaty (CWC) are indicative of the great strides made in the non- proliferation arena. Simultaneously, the Intermediate Nuclear Forces Treaty (INF), the Conventional Forces Treaty in Europe (CFE), and the Strategic Arms Reduction Treaties (START), all associated with US-Soviet Union (now Russia) relations have assisted in redefining European relations and the security landscape. Finally, it now appears that progress is in the offing in developing enhanced compliance measures for the Biological and Toxin Weapons Convention (BTWC). In sum, all of these achievements have set the stage for the next round of arms control activities, which may lead to a much broader, and perhaps more diffused multilateral agenda. In this new and somewhat unpredictable international setting, arms control and disarmament issues will require solutions that are both more creative and innovative than heretofore.

Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

Directory of Open Access Journals (Sweden)

Mohamed J. Bakari

2008-11-01

Full Text Available This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID and Proportional-Integral-Plus (PIP control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

Nuclear weapons, scientists, and the post-Cold War challenge selected papers on arms control

CERN Document Server

Drell, Sidney D

2007-01-01

This volume includes a representative selection of Sidney Drell's recent writings and speeches (circa 1993 to the present) on public policy issues with substantial scientific components. Most of the writings deal with national security, nuclear weapons, and arms control and reflect the author's personal involvement in such issues dating back to 1960. Fifteen years after the demise of the Soviet Union, the gravest danger presented by nuclear weapons is the spread of advanced technology that may result in the proliferation of nuclear weapons. Of most concern would be their acquisition by hostile governments and terrorists who are unconstrained by accepted norms of civilized behavior. The current challenges are to prevent this from happening and, at the same time, to pursue aggressively the opportunity to escape from an outdated nuclear deterrence trap.

The Microsoft Visual Studio Software Development For 5 DOF Nuclear Malaysia Robot Arm V2 Control System

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Azraf Azman; Mohd Rizal Mamat; Mohd Arif Hamzah

2014-01-01

This paper presents the Microsoft visual studio development for 5DOF Nuclear Malaysia Robot Arm V2 control system. The kinematics analysis is the study of the relationship between the individual joints of robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using Microsoft visual studio to solve the robot arms kinematic behavior. (author)

The rejection of the comprehensive nuclear test ban treaty by the US Senate: a reverse for the nuclear arms control?

International Nuclear Information System (INIS)

Sitt, B.

2000-01-01

On October 13, 1999, after a hasty debate, the US Senate rejected the comprehensive nuclear test ban treaty (CTBT) signed 3 years ago. This article analyses this event with respect to the US domestic context (discussions at the Senate, reaction of the Presidency) and with respect to the international context (international reactions, future of the treaty, consequences on arms control policy). (J.S.)

Keeping nuclear hazards at arm's length

International Nuclear Information System (INIS)

Anon.

1992-01-01

As national and international regulations are tightened, the permitted radiation dose limits for nuclear workers are being lowered. But sharing the same dose among more people is raising nuclear industry costs. At the same time tasks such as refurbishment and decommissioning are multiplying as the nuclear industry matures. As a result of these trends, work in the nuclear power sector is increasingly having to be done under remote control. European and American progress in the technology was reported recently at a two-day international conference held in London and is reported here. In France 'Frastar' carries out tours of inspection inside reactor buildings under remote control and 'Suzy' is a finger walker robot carrying an arm which is a 3-actuator manipulator. Anglo-American advances are reported; robots with manipulator, cameras, audio signalling and the ability to climb stairs and ramps. A European Community research programme called Teleman was started in 1989 to develop advanced teleoperators for the nuclear industry. The projects underway in this programme are listed. (UK)

Nuclear Testing: Arms Control Opportunities. Hearing before the Subcommittee on Arms Control, International Security and Science of the Committee on Foreign Affairs, US House of Representatives, One Hundredth Congress, Second Session, June 28, 1988

International Nuclear Information System (INIS)

Anon.

1988-01-01

The results of this hearing before the Subcommittee on Arms Control, International Security and Science that had a three-fold purpose are recorded. The three-fold purpose was: (1) to examine the nuclear testing policy of the USA and how that policy fits into a larger USA arms control and national security strategy; (2) to discuss the status of the USA-Soviet Nuclear Testing Talks in Geneva, i.e. what is the status of the protocols of the Threshold Test Ban Treaty (TTBT) and the Peaceful Nuclear Explosion Treaty (PNET)? and what is the next step in the US negotiating strategy after the protocols are completed?; and (3) to examine the conclusions of a 139 page report completed by the Office of Technology Assessment (OTA) on 'Seismic Verification of Nuclear Testing Treaties'. The OTA report addressed two key questions: (1) down to what size explosion can underground testing be seismically monitored with high confidence; and (2) how accurately can the yields of underground explosions be measured seismically? The answers to these questions are featured in the hearings

Simulation of neutron multiplicity measurements using Geant4. Open source software for nuclear arms control

Energy Technology Data Exchange (ETDEWEB)

Kuett, Moritz

2016-07-07

Nuclear arms control, including nuclear safeguards and verification technologies for nuclear disarmament typically use software as part of many different technological applications. This thesis proposes to use three open source criteria for such software, allowing users and developers to have free access to a program, have access to the full source code and be able to publish modifications for the program. This proposition is presented and analyzed in detail, together with the description of the development of ''Open Neutron Multiplicity Simulation'', an open source software tool to simulate neutron multiplicity measurements. The description includes physical background of the method, details of the developed program and a comprehensive set of validation calculations.

Gorbachev’s Arms Control Strategy.

Science.gov (United States)

1987-01-22

on- site inspection for verifying nuclear tests as well as for dismantling missiles on Soviet territory. Clearlv Gorbachev wants an arms , -4- control...bring its seismological test equipment to what he called the "holy of holies", the area adjoining the Soviet proving ground near Semipalatinsk to offer...prenotification and observation of military exercises including on- site inspection on Soviet territory. But on the big issues--- nuclear testing , strategic weapons

Disarmament and arms control

International Nuclear Information System (INIS)

Elzen, B.

1979-01-01

This report discusses how far science and technology can provide methods of making arms control and disarmament agreements more controlable in an objective way. Two case studies have been considered, the test ban treaty and the verification of the number of strategic nuclear weapons. These lead to the conclusion that both science and politics are closely interwoven and that within what appear to be scientific arguments, political positions are being defended. Consequently scientists and technologists and the contexts in which they work, play a prominent role. (C.F.)

China and nuclear arms limitation agreements

International Nuclear Information System (INIS)

Roberts, E.V.

1980-01-01

The Chinese attitudes from 1949 to 1980 towards nuclear arms limitation are divided into four distinct periods: 1949-1956, 1957-1963, 1964-1972 and 1973-1980. During 1949-1956, China held the view that an atom bomb or nuclear weapons are not decisive for the outcome of any war. It is the people who decide the outcome of a war. The period 1957-1963, after Soviet refusal to transfer nuclear technology, is marked by the development of the nuclear programme which led to the explosion of a nuclear device in 1964. China continued to build nuclear capability during 1964-1972. Mao died in 1976 and the relations with the U.S.A. were normalised in 1979. Taking an anti-Soviet stance China now takes the view that any nuclear arms agreement with Soviet Union is futile and describes SALT II agreement as an absolute farce. (M.G.B.)

Robotic arm

Science.gov (United States)

Kwech, Horst

1989-04-18

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

Robotic arm

International Nuclear Information System (INIS)

Kwech, H.

1989-01-01

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

Command and Control in a Nuclear-Armed Iran - Proliferation Papers No. 45

International Nuclear Information System (INIS)

Chubin, Shahram

2013-01-01

In the long standoff regarding its nuclear ambition, Iran has cultivated ambiguity and been loath to reliably assure the international community of its ultimate intentions, complicating Western efforts to understand, let alone constrain, Tehran's endeavors. While many analyses have focused on how to prevent or contain a potential nuclear-armed Iran, the posture Iran would adopt once it has developed its nuclear weapons remains elusive. This paper highlights that while opting for command-and-control (C2) arrangements, Iran would have to reconcile two contrasting imperatives: first, to disperse assets and decentralize C2 to minimize the risks and potential damages of a disabling strike, which has been seen as a real - even imminent - threat in recent years. A contrasting concern emerged as the Iranian Revolutionary Guards' Corps became a key formulator and executor of Tehran's security policy: how to guard against the risk of unauthorized use of major weapons systems? Among the factors that could influence Iran's choices in terms of C2 arrangements, this paper focuses on Tehran's national security experience, the lessons it may have derived from it, as well as from the experience of other countries. (author)

Nuclear arms cleanup

International Nuclear Information System (INIS)

Cooper, M.H.

1994-01-01

The Soviet Union's demise five years ago brought an end to the Cold War, the 45-year arms race between the Soviet superpower and the United States. The euphoria that greeted the end of this bloodless conflict has dampened somewhat, however, as U.S. officials and their counterparts in the former Soviet republics come to grips with its legacy: thousands of highly toxic and politically destabilizing nuclear weapons. With no more perceived need for much of their vast arsenals, the governments have agreed to dismantle large numbers of nuclear warheads. But the agencies involved in this task face a daunting technical and political problem: what to do with the thousands of tons of plutonium and uranium that are the main ingredients of nuclear weapons

U.S. – Russia Relations And Arms Control: Breating The Clinch

Directory of Open Access Journals (Sweden)

N. I. Bubnova

2017-01-01

Full Text Available The article examines the new U.S. administration’s outlook on arms control, analyses the existing problems in this field and possible ways for their resolution, compares Donald Trump’s statements on military and political issues with the president’s first steps in this area, and offers forecasts and recommendations on the prospects for U.S.-Russia cooperation in arms limitations and reductions. The author proceeds from the assumption that arms control is a key component in measures to ensure international security. Even if the current tense U.S.- Russian relations provide little room for maneuver and the internal political struggle in DC sets limits on the possible bilateral measures, Moscow should nevertheless take initiative in putting forward a set of proposals to reduce weapons, especially in the very sensitive and risk-prone nuclear field. This will allow in future negotiations to proceed from options that will take into account Russian interests and the specifics of Russia’s weapons systems, while at the same time showing the resolve of the nuclear superpowers to reduce existing threats through negotiations and leading the way for other countries to join. Taking into account the importance of arms control, all efforts should be made to enforce the existing treaties, consolidate the current international treaty-based legal system, and work further on new arms control and arms reduction agreements.

Nuclear disarmament or survival of nuclear arms?

International Nuclear Information System (INIS)

Stroot, J.P.

1997-01-01

START II has not yet been ratified by the US or Russian parliaments. Doubts may be raised over whether it will ever be. In the best case there will be more than 20,000 nuclear warheads in the arsenals of these two countries by the year 2003. All five nuclear states consider that nuclear weapons are an essential component of their national defense. It might sound childish but, the whole story is is so often childish: the five powers refuse to break their nuclear toys. They take even all possible measures to maintain and improve them and to ensure the survivability of their arsenals. To prepare for the next arms race..

Space nonweaponization. An urgent task for arms control

International Nuclear Information System (INIS)

Du Xiangwan; Pan Jusheng; Zhang Xinwei; Du Shuhua; Xu Changgen

1990-05-01

The authors attempt to expound the basic points of veiw and put forward a proposal on the space nonweaponization. The authors analyse the nature of space weaponry and its impact on arms race and point out that the space nonweaponization is an urgent task for arms control. The relations between prohibition of space and ASAT weapons, between prohibition of space weapons and reduction of nuclear weapons and between space weapon and nuclear test are all analysed. The inadequacy of the existing space treaties is made clear based on the evaluation. It is hoped that a verifiable treaty on the prohibition of space weapons should be made and international cooperation on peaceful use of outer space is necessary

Cooperative Remote Monitoring, Arms control and nonproliferation technologies: Fourth quarter 1995

Energy Technology Data Exchange (ETDEWEB)

Alonzo, G M [ed.

1995-01-01

The DOE`s Cooperative Remote Monitoring programs integrate elements from research and development and implementation to achieve DOE`s objectives in arms control and nonproliferation. The contents of this issue are: cooperative remote monitoring--trends in arms control and nonproliferation; Modular Integrated Monitoring System (MIMS); Authenticated Tracking and Monitoring Systems (ATMS); Tracking and Nuclear Materials by Wide-Area Nuclear Detection (WAND); Cooperative Monitoring Center; the International Remote Monitoring Project; international US and IAEA remote monitoring field trials; Project Dustcloud: monitoring the test stands in Iraq; bilateral remote monitoring: Kurchatov-Argonne-West Demonstration; INSENS Sensor System Project.

Some possible applications of measurements on mu mesons to nuclear safeguards, nonproliferation, and arms control activities

International Nuclear Information System (INIS)

Kane, W.R.; Vanier, P.E.

1997-01-01

In the nuclear safeguards and arms control areas, well-developed methodologies exist for determining the properties of nuclear materials via measurements of the gamma rays and neutrons emitted from these materials, or in the arms control area, by the use of radiography. In certain favorable instances, it may by feasible to perform comparable measurements with the use of a ubiquitous, naturally-occurring radiation--cosmic ray mu mesons (muons). At the earth's surface these charged particles have a broad energy distribution peaking at about 500 MeV with a flux of approximately 10 -2 /cm 2 -sec-steradian. In traversing matter, muons lose energy at a rate of approximately 2 MeV/gram almost independent of atomic number. Muons can readily be detected by either plastic scintillators or wire planes. While the flux is small, a scintillator of one meter area, for example, will register about 20,000 events/min. these particles should have utility in the detection and imaging of objects with sectional densities of a few hundred grams/cm 2 . The degree of intrusiveness of the imaging can be controlled through the detector configuration. Some possible applications include: (1) mass measurements on large UF 6 cylinders, (2) determination of the size of treaty-limited objects, e.g., missiles, in rail cars or other containment; (3) verification of single or multiple warheads or components; (4) the detection of concealed, underground cavities. Examples will be presented

Some major challenges: Nuclear non-proliferation, nuclear arms control and nuclear terrorism. Vienna, 29 October 2001. Statement to the symposium on international safeguards: Verification and nuclear material security

International Nuclear Information System (INIS)

ElBaradei, M.

2001-01-01

The main topics dealt with the ensuring of an effective, universal and adequately financed system for the verification of nuclear non-proliferation, namely as follows: Effectiveness of the system; Participation in the system ; Financing of the system; Making Progress in Nuclear Arms Control; Protection Against Nuclear Terrorism. In the Safeguards Implementation Report (SIR) for 2000, the Agency was able to conclude that for all 140 states with safeguards agreements in place the nuclear material and other items placed under safeguards remained in peaceful nuclear activities or were otherwise adequately accounted for. The Agency currently safeguards over 900 facilities in 70 countries on a regular safeguards budget of approximately US $80 million per year. Turning to the major recent challenge, protection against nuclear terrorism, the IAEA has long been active in encouraging States to make security an integral part of the management of their nuclear programmes. The recent attacks in the United States were, however, a wake-up call to all that more can and must be done. In the week immediately following the tragedy, the IAEA General Conference adopted a resolution which requested a thorough review of Agency activities and programmes relevant to preventing acts of nuclear terrorism

Nuclear weapon relevant materials and preventive arms control. Uranium-free fuels for plutonium elimination and spallation neutron sources

International Nuclear Information System (INIS)

Liebert, Wolfgang; Englert, Matthias; Pistner, Christoph

2009-01-01

Today, the most significant barrier against the access to nuclear weapons is to take hold on sufficient amounts of nuclear weapon-relevant nuclear materials. It is mainly a matter of fissionable materials (like highly enriched uranium and plutonium) but also of fusionable tritium. These can be used as reactor fuel in civil nuclear programmes but also in nuclear weapon programmes. To stop or to hinder nuclear proliferation, in consequence, there is not only a need to analyse open or covered political objectives and intentions. In the long term, it might be more decisive to analyse the intrinsic civil-military ambivalence of nuclear materials and technologies, which are suitable for sensitive material production. A farsighted strategy to avoid proliferation dangers should take much more account to technical capabilities as it is done in the political debate on nuclear non-proliferation so far. If a technical option is at a state's disposal, it is extremely difficult and lengthy to revert that again. The dangers, which one has to react to, are stemming from already existing stocks of nuclear weapon-relevant materials - in the military as well as in the civil realm - and from existing or future technologies, which are suitable for the production of such materials (cf. info 1 and 2). Therefore, the overall approach of this research project is to strive for a drastic reduction of the access to nuclear weapon-relevant material and its production capabilities. Thus, on one hand the nuclear proliferation by state actors could be answered more effectively, on the other hand by that approach a decisive barrier against the access on nuclear weapons by sub-national groups and terrorists could also be erected. For this purpose, safeguards of the International Atomic Energy Agency (IAEA) and other measures of physical accountancy will remain indispensable elements of arms control. However, one has to consider that the goal of nuclear non-proliferation could not be achieved and

Powered manipulator control arm

International Nuclear Information System (INIS)

Le Mouee, Theodore; Vertut, Jean; Marchal, Paul; Germon, J.C.; Petit, Michel

1975-01-01

A remote operated control arm for powered manipulators is described. It includes an assembly allowing several movements with position sensors for each movement. The number of possible arm movements equals the number of possible manipulator movements. The control systems may be interrupted as required. One part of the arm is fitted with a system to lock it with respect to another part of the arm without affecting the other movements, so long as the positions of the manipulator and the arm have not been brought into complete coincidence. With this system the locking can be ended when complete concordance is achieved [fr

The Development of Control System Design for 5 DOF Nuclear Malaysia Robot Arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2011-01-01

This paper describes a general design and implementation approach used for programming and controlling robotic systems such as remotely operated robotic manipulator systems. A hierarchical approach to control system design is adopted. The hierarchical design is translated into a component-based software design. A low-cost robotic arm and controller system is presented. The controller is a modular model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. The system takes advantage of the low cost and wide availability of control components and uses a low-cost, easy-to-program microprocessor. Furthermore, it presents the design and the construction of electronic systems for the control of an articulated robot developed for research and development related with instrumentation and control. The system is simple but it is designed the motor to move the robot arm to proper angular position according to the input controller. Limitations of the micro controller are discussed, and suggestions for further development of the robot arm and control are made. (author)

High-Resolution Fast-Neutron Spectrometry for Arms Control and Treaty Verification

Energy Technology Data Exchange (ETDEWEB)

David L. Chichester; James T. Johnson; Edward H. Seabury

2012-07-01

Many nondestructive nuclear analysis techniques have been developed to support the measurement needs of arms control and treaty verification, including gross photon and neutron counting, low- and high-resolution gamma spectrometry, time-correlated neutron measurements, and photon and neutron imaging. One notable measurement technique that has not been extensively studied to date for these applications is high-resolution fast-neutron spectrometry (HRFNS). Applied for arms control and treaty verification, HRFNS has the potential to serve as a complimentary measurement approach to these other techniques by providing a means to either qualitatively or quantitatively determine the composition and thickness of non-nuclear materials surrounding neutron-emitting materials. The technique uses the normally-occurring neutrons present in arms control and treaty verification objects of interest as an internal source of neutrons for performing active-interrogation transmission measurements. Most low-Z nuclei of interest for arms control and treaty verification, including 9Be, 12C, 14N, and 16O, possess fast-neutron resonance features in their absorption cross sections in the 0.5- to 5-MeV energy range. Measuring the selective removal of source neutrons over this energy range, assuming for example a fission-spectrum starting distribution, may be used to estimate the stoichiometric composition of intervening materials between the neutron source and detector. At a simpler level, determination of the emitted fast-neutron spectrum may be used for fingerprinting 'known' assemblies for later use in template-matching tests. As with photon spectrometry, automated analysis of fast-neutron spectra may be performed to support decision making and reporting systems protected behind information barriers. This paper will report recent work at Idaho National Laboratory to explore the feasibility of using HRFNS for arms control and treaty verification applications, including simulations

The nuclear data collecting system designed with ARM and μC/OS-II

International Nuclear Information System (INIS)

Wang Chunsheng; Ma Yingjie; Han Feng

2008-01-01

Introduce a kind of nuclear data collecting system regarding ARM-μC/OS-II as the platform, gathering the GPS receiver in it. It was detailed to expatiated the key techniques of the multi-channel pulse amplitude analyzer, the interface design of LPC2148, a controller in ARM, and how to expand the RTOS and design applications on μC/OS-II. This system can communicate with the GPS-OEM module by the UART interface, collecting the GPS information synchronously as well as nuclear data. And then save and display them or pass them to the host computer by the USB interface. The embedded and Real-Time system, μC/OS-II build up the real-time and stability of the system and advance the integration. (authors)

Who's bound by the former Soviet Union's arms control treaties?

International Nuclear Information System (INIS)

Rhinelander, J.B.; Bunn, G.

1991-01-01

A crucial issue raised by the disintegration of the Soviet central government is what happens to Soviet arms control obligations. As the Soviet government transforms or collapses in the wake of the failed August coup, which of the resulting entities will be bound by the treaties the Soviet Union entered into? Under international law, the obligations of a state are not affected by even such dramatic changes in government. No one yet knows, however, what the end result of the ongoing devolution of power in the erstwhile Soviet Union will be. As illustrations of what could happen to Soviet arms control obligations - not predictions of the future - the authors pose two alternative scenarios. In the first, they assume that most of the current 12 republics, including all of the big four where substantial nuclear forces and the largest conventional forces are located (Russia, Ukraine, Khazakhstan, and Belarus), ultimately form a loose confederation with sufficient central authority to be called a nation-state and to carry out the essence of Soviet obligations under major arms control treaties. In the second, they assume that the union disintegrates further, with these four key republics seceding entirely and recognizing one another as independent states - a step which is apparently one of the US criteria for granting its own recognition. In this scenario, the Russian republic maintains its basic territory and replaces the central government as the power center for military and foreign affairs. In each of these cases, they will describe the general issues affecting the Soviet Union's international obligations, and consider specifically the two most important arms control agreements now in force - the multilateral nuclear Non-proliferation Treaty (NPT) and the bilateral Antiballistic Missile (ABM) Treaty

Scientists of Russian Federal Nuclear Centre - ARSRITP and arms control and nuclear weapons non-proliferation problems

International Nuclear Information System (INIS)

Avrorin, E.N.; Andrusenko, B.A.; Voznyuk, R.I.; Voloshin, N.P.

1994-01-01

The activity of scientists of Russian Federal Nuclear Centre (RFNC) -ARSRITP in the field of nuclear disarmament control for the period of 1974 -1993 is discussed. RFNC - ARSRITP scientists in collaboration with american specialists have developed and employed in practice the techniques and equipment to control the bilateral Treaty on the limitation of Nuclear -Weapon Test. Experience of control over nuclear tests of threshold power and realization of new RFNC - ARSRITP scientific and technical projects have made a basis for development of measures and means of possible control methods to observe complete nuclear test ban

March to Armageddon: The United States and the nuclear arms race, 1939 to the present

Energy Technology Data Exchange (ETDEWEB)

Powaski, R.

1987-01-01

This history of the events, forces, and factors that have brought the world to the brink of nuclear holocaust probes two basic questions: what factors perpetuate the nuclear arms race and why is it so difficult to end. Starting with the opening days of World War II, this study traces the escalating arms race up to the present and notes that, while nuclear arsenals continue to grow, nuclear arms treaties are on the verge of collapse.

Nuclear reactor control rod

International Nuclear Information System (INIS)

Cearley, J.E.; Izzo, K.R.

1987-01-01

This patent describes a vertically oriented bottom entry control rod from a nuclear reactor: a frame including an elongated central spine of cruciform cross section connected between an upper support member and a lower support member both of cruciform shape having four laterally extending arms. The arms are in alignment with the arms of the lower support member and each aligned upper and lower support members has a sheath extending between; absorber plates of neutron absorber material, different from the material of the frame, one of the absorber plates is positioned within a sheath beneath each of the arms; attachment means suspends the absorber plates from the arms of the upper support member within a sheath; elongated absorber members positioned within a sheath between each of the suspended absorber plates and an arm of the lower support member; and joint means between the upper ends of the absorber members and the lower ends of the suspended absorber plates for minimizing gaps; the sheath means encloses the suspended absorber plates and the absorber members extending between aligned arms of the upper and lower support members and secured

Arms control verification costs: the need for a comparative analysis

International Nuclear Information System (INIS)

MacLean, G.; Fergusson, J.

1998-01-01

The end of the Cold War era has presented practitioners and analysts of international non-proliferation, arms control and disarmament (NACD) the opportunity to focus more intently on the range and scope of NACD treaties and their verification. Aside from obvious favorable and well-publicized developments in the field of nuclear non-proliferation, progress also has been made in a wide variety of arenas, ranging from chemical and biological weapons, fissile material, conventional forces, ballistic missiles, to anti-personnel landmines. Indeed, breaking from the constraints imposed by the Cold War United States-Soviet adversarial zero-sum relationship that impeded the progress of arms control, particularly on a multilateral level, the post Cold War period has witnessed significant developments in NACD commitments, initiatives, and implementation. The goals of this project - in its final iteration - will be fourfold. First, it will lead to the creation of a costing analysis model adjustable for uses in several current and future arms control verification tasks. Second, the project will identify data accumulated in the cost categories outlined in Table 1 in each of the five cases. By comparing costs to overall effectiveness, the application of the model will demonstrate desirability in each of the cases (see Chart 1). Third, the project will identify and scrutinize 'political costs' as well as real expenditures and investment in the verification regimes (see Chart 2). And, finally, the project will offer some analysis on the relationship between national and multilateral forms of arms control verification, as well as the applicability of multilateralism as an effective tool in the verification of international non-proliferation, arms control, and disarmament agreements. (author)

Borehole tool outrigger arm displacement control mechanism

International Nuclear Information System (INIS)

Lee, A.G.

1985-01-01

As the outrigger arms of a borehole logging tool are flexed inwardly and outwardly according to the diameter of the borehole opening through which they pass, the corresponding axial displacements of the ends of the arms are controlled to determine the axial positions of the arms relative to the tool. Specifically, as the arm ends move, they are caused to rotate by a cam mechanism. The stiffness of the arms causes the arm ends to rotate in unison, and the exact positions of the arms on the tool are then controlled by the differential movements of the arm ends in the cams

Cognitive Targeting: A Coercive Air Power Theory for Conventional Escalation Control Against Nuclear Armed Adversaries

Science.gov (United States)

2016-06-01

strategic,” in the cognitive targeting paradigm , are those that directly disable - in the strategic audience’s mind – the attractiveness or...This study analyses the applicability of three operational targeting paradigms to coerce a nuclear-armed adversary in a regional crisis, while...principles and elements of war and understand the coercive ability of utility targeting (a capabilities-based targeting paradigm , CBTP), axiological

Sandia technology. Volume 13, number 2 Special issue: verification of arms control treaties

International Nuclear Information System (INIS)

1989-01-01

Nuclear deterrence, a cornerstone of US national security policy, has helped prevent global conflict for over 40 years. The DOE and DoD share responsibility for this vital part of national security. The US will continue to rely on nuclear deterrence for the foreseeable future. In the late 1950s, Sandia developed satellite-borne nuclear burst detection systems to support the treaty banning atmospheric nuclear tests. This activity has continued to expand and diversify. When the Non-Proliferation Treaty was ratified in 1970, we began to develop technologies to protect nuclear materials from falling into unauthorized hands. This program grew and now includes systems for monitoring the movement and storage of nuclear materials, detecting tampering, and transmiting sensitive data securely. In the late 1970s, negotiations to further limit underground nuclear testing were being actively pursued. In less than 18 months, we fielded the National Seismic Station, an unattended observatory for in-country monitoring of nuclear tests. In the mid-l980s, arms-control interest shifted to facility monitoring and on-site inspection. Our Technical On-site Inspection Facility is the national test bed for perimeter and portal monitoring technology and the prototype for the inspection portal that was recently installed in the USSR under the Intermediate-Range Nuclear Forces accord. The articles in the special issue of Sundiu Technology describe some of our current contributions to verification technology. This work supports the US policy to seek realistic arms control agreements while maintaining our national security.

Managing new arms races

International Nuclear Information System (INIS)

Segal, G.

1992-01-01

The management of new arms races in the region of Asia-Pacific includes considerations of weapons trade and transfer in the region, with an emphasis on nuclear weapons proliferation. It deals with the problem of controlling the arms trade and the efforts to control conventional weapons and underlines the possible role and influence of Conference on Cooperation and Security in Europe (CSCE)

Nuclear arms race gearing for speedup

International Nuclear Information System (INIS)

Heylin, M.

1981-01-01

To probe the rationale behind the big buildup in US strategic arms that is presaged by the current enhanced R and D effort - and to explore the broader, more long-term role of science and technology in the nuclear arms race - C and EN in recent months spoke with a host of experts both within and outside the defense establishment. It is a topic of incredible complexity, high controversy, and of the highest stakes imaginable - the survival of civilization. This buildup will include over the next decade, apart from the MX, a new, highly accurate, submarine-launched ballistic missile and a fleet of very large submarines to carry it; an air-launched cruise missile; a new long-range bomber; a new intermediate-range missile and a new ground-launched cruise missile, both capable of hitting targets in the Soviet Union from proposed bases in Western Europe; and a new sea-launched cruise missile that can be fired from conventional submarines or other naval vessels. To spokesmen for, and members of, the defense establishment the US buildup is prudent, even minimal. According to them, it is needed to keep the US at least on a par with the growth of Soviet strategic might which was very substantial in the 1970's and which will carry over into the 1980's with further major gains. It also is needed to keep the lid on Soviet expansionism; and it is the best way to prevent a nuclear war. To critics, the proposed buildup is the height of lunacy. According to them, the US strategic arsenal is more than adequate today. And it can continue to serve its only legitimate purpose - to deter nuclear war, no matter how much the Soviets may choose to build up their nuclear forces - with a much-more-modest modernization program

Design of a multi-arm randomized clinical trial with no control arm.

Science.gov (United States)

Magaret, Amalia; Angus, Derek C; Adhikari, Neill K J; Banura, Patrick; Kissoon, Niranjan; Lawler, James V; Jacob, Shevin T

2016-01-01

Clinical trial designs that include multiple treatments are currently limited to those that perform pairwise comparisons of each investigational treatment to a single control. However, there are settings, such as the recent Ebola outbreak, in which no treatment has been demonstrated to be effective; and therefore, no standard of care exists which would serve as an appropriate control. For illustrative purposes, we focused on the care of patients presenting in austere settings with critically ill 'sepsis-like' syndromes. Our approach involves a novel algorithm for comparing mortality among arms without requiring a single fixed control. The algorithm allows poorly-performing arms to be dropped during interim analyses. Consequently, the study may be completed earlier than planned. We used simulation to determine operating characteristics for the trial and to estimate the required sample size. We present a potential study design targeting a minimal effect size of a 23% relative reduction in mortality between any pair of arms. Using estimated power and spurious significance rates from the simulated scenarios, we show that such a trial would require 2550 participants. Over a range of scenarios, our study has 80 to 99% power to select the optimal treatment. Using a fixed control design, if the control arm is least efficacious, 640 subjects would be enrolled into the least efficacious arm, while our algorithm would enroll between 170 and 430. This simulation method can be easily extended to other settings or other binary outcomes. Early dropping of arms is efficient and ethical when conducting clinical trials with multiple arms. Copyright © 2015 Elsevier Inc. All rights reserved.

Sensory-Feedback Exoskeletal Arm Controller

Science.gov (United States)

An, Bin; Massie, Thomas H.; Vayner, Vladimir

2004-01-01

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment

The Challenge for Arms Control Verification in the Post-New START World

Energy Technology Data Exchange (ETDEWEB)

Wuest, C R

2012-05-24

Nuclear weapon arms control treaty verification is a key aspect of any agreement between signatories to establish that the terms and conditions spelled out in the treaty are being met. Historically, arms control negotiations have focused more on the rules and protocols for reducing the numbers of warheads and delivery systems - sometimes resorting to complex and arcane procedures for counting forces - in an attempt to address perceived or real imbalances in a nation's strategic posture that could lead to instability. Verification procedures are generally defined in arms control treaties and supporting documents and tend to focus on technical means and measures designed to ensure that a country is following the terms of the treaty and that it is not liable to engage in deception or outright cheating in an attempt to circumvent the spirit and the letter of the agreement. As the Obama Administration implements the articles, terms, and conditions of the recently ratified and entered-into-force New START treaty, there are already efforts within and outside of government to move well below the specified New START levels of 1550 warheads, 700 deployed strategic delivery vehicles, and 800 deployed and nondeployed strategic launchers (Inter-Continental Ballistic Missile (ICBM) silos, Submarine-Launched Ballistic Missile (SLBM) tubes on submarines, and bombers). A number of articles and opinion pieces have appeared that advocate for significantly deeper cuts in the U.S. nuclear stockpile, with some suggesting that unilateral reductions on the part of the U.S. would help coax Russia and others to follow our lead. Papers and studies prepared for the U.S. Department of Defense and at the U.S. Air War College have also been published, suggesting that nuclear forces totaling no more than about 300 warheads would be sufficient to meet U.S. national security and deterrence needs. (Davis 2011, Schaub and Forsyth 2010) Recent articles by James M. Acton and others suggest that

Compactable control element assembly for a nuclear reactor

International Nuclear Information System (INIS)

Dupen, C.F.G.

1976-01-01

A description is given of a compactable control element assembly for a nuclear reactor in which the absorber pins of the assembly are compacted during downward movement of the pin and are returned to their uncompacted state when downward movement is stopped. The control element assembly comprises a support member longitudinally movable within a control assembly duct and a plurality of absorber pins supported laterally outward of the support member and within the duct by pairs of support arms. The absorber pins are pivotably mounted to the support arms and the support arms in turn are supported from the support member for upward pivotable movement in a longitudinal plane. As the support member is moved downward, the support arms pivot upwardly and the absorber pins move upwardly and inwardly towards the support member. When the support member is stopped the absorber pins return to their uncompacted position

Proposal for broader United States-Russian transparency of nuclear arms reductions

International Nuclear Information System (INIS)

Percival, C.M.; Ingle, T.H.; Bieniawski, A.J.

1995-01-01

During the January 1994 Summit Presidents Clinton and Yeltsin agreed on the goal of ensuring the ''transparency and irreversibility'' of the nuclear arms reduction process. As a result, negotiations are presently underway between the United States Government and the Russian Federation to confirm the stockpiles of plutonium and highly enriched uranium removed from nuclear weapons. In December 1994 the United States presented a paper to the Russian Federation proposing additional measures to provide broader transparency of nuclear arms reduction. The US Department of Energy is studying the implementation of these broader transparency measures at appropriate DOE facilities. The results of the studies include draft protocols for implementation, assessments of the implementation procedures and the impacts on the facilities and estimates of the cost to implement these measures at various facilities

Arms control: moral, political and historical lesson

International Nuclear Information System (INIS)

Thompson, K.W.

1990-01-01

Many of the world's most influential policy-makers and analysts view arms control as a scientific and technological problem. They measure a nation's nuclear power exclusively by megatonnage and throw-weights leaving the intangible elements of military and political power to philosophers and historians. They tend to ignore the human and qualitative aspects of power. This is a book that shift the emphasis to aspects of the nuclear problem which are sometimes overlooked. Basically, these elements are bound up in the moral, political, and historical lessons of the nuclear age. Nonquantitative factors have been central to studies of national defense and military power since the rise of the modern nation state system. However, most students of present-day nuclear weapons tend to stress their revolutionary character. Because they are considered wholly unique, analysts tend to write about them in a historical and apolitical terms. One purpose of the collection of papers in this little volume is to redirect attention to the moral, political, and historical lessons that the nuclear age presents. What most distinguishes the writings of contributors to this volume is their use of certain well-established principles and concepts long acknowledged in military and foreign policy analysis. Thus Father Hehir asks many of the same questions that students of ethics and foreign policy have asked for four hundred years

Robust coordinated control of a dual-arm space robot

Science.gov (United States)

Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

2017-09-01

Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

Nuclear exports. Parliamentary control and confidentiality

International Nuclear Information System (INIS)

Feldmann, Ulrike

2015-01-01

With its decision taken on 21. October 2014 (Az.: 2 BvE 5/11) the Federal Constitutional Court (BVerfG) decided during court proceedings between administrative bodies on the scope and limits of the parliamentary right of information. Even though the proceeding did not deal with nuclear exports but arm exports, foreign trade law, however, does not only designate an export licence obligation for military weapons but also for so called dual-use goods meaning goods, which can be used both for friendly as well as for military purposes. The export of these goods requires according to the so-called Dual-Use Regulation (EG) 428/2009 a licence. Annex I category 0 of the regulation (EG) 428/2009 lists a variety of nuclear materials, plants and equipment items for which this licence applies. In the same manner as arm exports, also exports of nuclear dual-use goods are being discussed in a special cabinet committee, the Federal Security Council (BSR), which shall coordinate cross-departmentally the German security and defence policy under consideration of economic interests and which categorises its results, according to the rules of procedure, as confidential. Also legally not regulated but common ''preliminary enquiries'' at the responsible Federal Ministry or rather Federal Office of Economics and Export Control by companies which plan an export and want to affirm the general approval for their export business prior to conclusion of contract take not only place for arm exports but also for nuclear dual-use goods. The decision by the Federal Constitutional Court can be applied to consultations about the authorisation of nuclear dual-use goods.

SIPRI's new conceptual approach to arms control and disarmament

International Nuclear Information System (INIS)

Rotfeld, Adam Daniel

2000-01-01

The end of the cold war deprioritized arms control and disarmament, and progress in the field was no longer a measure of relations among the major powers. In that context, the future of arms control and disarmament was discussed at the Nobel Symposium in October 1999. Stockholm International Peace Research Institute (SIPRI) views arms control as an instrument for shaping a new inclusive and cooperative security order. The author questions whether arms control challenges today can and should be resolved in the institutions established and the procedures elaborated in the bipolar framework. (author)

Organization of octopus arm movements: a model system for studying the control of flexible arms.

Science.gov (United States)

Gutfreund, Y; Flash, T; Yarom, Y; Fiorito, G; Segev, I; Hochner, B

1996-11-15

Octopus arm movements provide an extreme example of controlled movements of a flexible arm with virtually unlimited degrees of freedom. This study aims to identify general principles in the organization of these movements. Video records of the movements of Octopus vulgaris performing the task of reaching toward a target were studied. The octopus extends its arm toward the target by a wave-like propagation of a bend that travels from the base of the arm toward the tip. Similar bend propagation is seen in other octopus arm movements, such as locomotion and searching. The kinematics (position and velocity) of the midpoint of the bend in three-dimensional space were extracted using the direct linear transformation algorithm. This showed that the bend tends to move within a single linear plane in a simple, slightly curved path connecting the center of the animal's body with the target location. Approximately 70% of the reaching movements demonstrated a stereotyped tangential velocity profile. An invariant profile was observed when movements were normalized for velocity and distance. Two arms, extended together in the same behavioral context, demonstrated identical velocity profiles. The stereotyped features of the movements were also observed in spontaneous arm extensions (not toward an external target). The simple and stereotypic appearance of the bend trajectory suggests that the position of the bend in space and time is the controlled variable. We propose that this strategy reduces the immense redundancy of the octopus arm movements and hence simplifies motor control.

Regulations on nuclear materials control of the People's Republic of China

International Nuclear Information System (INIS)

1996-01-01

The present 'Regulations on Nuclear Materials Control of the People's Republic of China' were promulgated by the State Council on June 15, 1987, which are enacted to ensure safe and lawful use of nuclear materials, to prevent theft, sabotage, lose, unlawful diversion and unlawful use, to protect the security of the State and the Public and to facilitate the development of nuclear undertakings. The nuclear materials controlled are: 1. Uranium-235 (materials and products); 2. Uranium-233 (material and products); 3. Plutonium-239 (materials and products); 4. tritium (materials and products); 5. lithium-6 (materials and products); 6. Other nuclear materials requiring control. The present regulations are not applicable to the control of uranium ore and its primary products. The control measures for nuclear products transferred to the armed forces shall be laid down by the national defence department

Nuclear deterrence and disarmament after the Cold War

Energy Technology Data Exchange (ETDEWEB)

Lehman, R.F. II

1995-03-01

During the Cold War, nuclear arms control measures were shaped significantly by nuclear doctrine. Consequently, the negotiation of arms control agreements often became a battleground for different nuclear strategies. The Cold War between the United States and the Soviet Union has been declared over. Today, both nuclear weapons policies and arms control objectives are again being reviewed. This document discusses points of this review.

Nuclear disarmament verification

International Nuclear Information System (INIS)

DeVolpi, A.

1993-01-01

Arms control treaties, unilateral actions, and cooperative activities -- reflecting the defusing of East-West tensions -- are causing nuclear weapons to be disarmed and dismantled worldwide. In order to provide for future reductions and to build confidence in the permanency of this disarmament, verification procedures and technologies would play an important role. This paper outlines arms-control objectives, treaty organization, and actions that could be undertaken. For the purposes of this Workshop on Verification, nuclear disarmament has been divided into five topical subareas: Converting nuclear-weapons production complexes, Eliminating and monitoring nuclear-weapons delivery systems, Disabling and destroying nuclear warheads, Demilitarizing or non-military utilization of special nuclear materials, and Inhibiting nuclear arms in non-nuclear-weapons states. This paper concludes with an overview of potential methods for verification

Beyond arms control? Looking for the lost paradigm.

International Nuclear Information System (INIS)

Dahan, P.

2002-01-01

Since the tragic events of September 11, 2001, the international relations have become more complex and the arms control concept, born during the cold war and implemented during the 3 last decades is today marking time. Disarmament and non-proliferation, which were the keystones of arms control and international negotiations, are today undergoing erosion. This article analyzes the change of situation between the end of the 20. century and the beginning of the 21. century. Three steps are defined by the author: a 'flux' step with the signature of a huge number of international agreements about non-proliferation and arms control, a stagnation step marked by the difficulties of implementing some of the existing treaties and by the violation by some states of some of them, and a 'reflux' step marked by a freezing up of the bilateral US-Russian disarmament process and a general renouncement of the multilateral arms control concept. (J.S.)

Arms control and disarmament: A new conceptual approach

International Nuclear Information System (INIS)

2000-01-01

In the frame of the Millennium Assembly of the UN, the Secretary-General urged the global community to seize a sense of the occasion that comes from the turning of the century, to step back from today's headlines and take a broader, longer-term view of the state of the world and the challenges it poses. In partnership with the Stockholm International Peace Research Institute (SIPRI), the Department for Disarmament Affairs (DDA) is taking up precisely that challenge. This panel discussion is part of a series of events sponsored by the Department to deepen the discussion on topical disarmament and security related issues. It is also part of the constant search for a new approach, a new concept, a new paradigm or vision for disarmament and arms control since the end of the cold war, the end of the post-cold war period and the beginning of the new century. It is axiomatic that progress in disarmament is closely linked to the evolution of the security environment. Disarmament cannot be separated from the new geo-political and security configurations in Europe, new demonstrations of nuclear capability in Asia, the emergence of new conflicts that are being driven mainly by internal and ethnic strife and that are outrageous in their brutality in Europe, Asia and Africa. Today's agenda is still full and diverse in the traditional areas of disarmament, nuclear, chemical and biological disarmament as well as ballistic missile defense and proliferation and conventional disarmament including landmines. Like many organizations, research institutes, researchers and individuals in the field of security, DDA has set store on the reliability and credibility of the research and publications produced by SIPRI. As an independent international institute for research on problems for peace and conflict, disarmament and arms control founded in 1966, SIPRI's primary research has been consistently objective, timely, comprehensive and clearly presented. SIPRI's Yearbook has been a reference

Beyond arms control? Looking for the lost paradigm..; Au-dela de l'arms control? A la recherche du paradigme perdu..

Energy Technology Data Exchange (ETDEWEB)

Dahan, P

2002-07-01

Since the tragic events of September 11, 2001, the international relations have become more complex and the arms control concept, born during the cold war and implemented during the 3 last decades is today marking time. Disarmament and non-proliferation, which were the keystones of arms control and international negotiations, are today undergoing erosion. This article analyzes the change of situation between the end of the 20. century and the beginning of the 21. century. Three steps are defined by the author: a 'flux' step with the signature of a huge number of international agreements about non-proliferation and arms control, a stagnation step marked by the difficulties of implementing some of the existing treaties and by the violation by some states of some of them, and a 'reflux' step marked by a freezing up of the bilateral US-Russian disarmament process and a general renouncement of the multilateral arms control concept. (J.S.)

Kinematic feedback control laws for generating natural arm movements

International Nuclear Information System (INIS)

Kim, Donghyun; Jang, Cheongjae; Park, Frank C

2014-01-01

We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780–4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226–35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear–quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law. (paper)

Control of octopus arm extension by a peripheral motor program.

Science.gov (United States)

Sumbre, G; Gutfreund, Y; Fiorito, G; Flash, T; Hochner, B

2001-09-07

For goal-directed arm movements, the nervous system generates a sequence of motor commands that bring the arm toward the target. Control of the octopus arm is especially complex because the arm can be moved in any direction, with a virtually infinite number of degrees of freedom. Here we show that arm extensions can be evoked mechanically or electrically in arms whose connection with the brain has been severed. These extensions show kinematic features that are almost identical to normal behavior, suggesting that the basic motor program for voluntary movement is embedded within the neural circuitry of the arm itself. Such peripheral motor programs represent considerable simplification in the motor control of this highly redundant appendage.

United Campuses to Prevent Nuclear War: Nuclear War Course Summaries.

Science.gov (United States)

Journal of College Science Teaching, 1983

1983-01-01

Briefly describes 46 courses on nuclear war available from United Campuses to Prevent Nuclear War (UCAM). These courses are currently being or have been taught at colleges/universities, addressing effects of nuclear war, arms race history, new weapons, and past arms control efforts. Syllabi (with assignments/reading lists) are available from UCAM.…

Nuclear war nuclear proliferation and their consequences

International Nuclear Information System (INIS)

Aga Khan, Sadruddin

1986-01-01

The paper concerns the proceedings of a conference hosted by the Groupe de Bellerive to explore and discuss the implications for humanity of nuclear war, nuclear proliferation and their consequences, Geneva 1985. The conference was divided into five sessions, headed by the subject titles: the nuclear non-proliferation treaty (NPT) and its future, the spread of nuclear weapons among nations, global effects of a nuclear war, the nuclear arms race and arms control, the NPT and its future. Twenty eight papers were presented in the five sessions. (UK)

Emergency disconnect means for the manipulator arm of a nuclear reactor vessel inspection apparatus

International Nuclear Information System (INIS)

Jacobs, F.; Morris, D.W.

1980-01-01

An emergency disconnect means is disclosed for uncoupling a portion of the linkage means which connects the several segments of an articulating manipulator arm employed in a nuclear reactor vessel inspection device. One of the motor housings included in the manipulator arm's segmented drive train is pivotably coupled between two segments thereof. In the event of power failure or the necessity of manual retraction of the manipulator arm from within the vessel, a lever is manually operated and moved from its normally locked position wherein the motor housing is positionally fixed to a release position wherein the motor housing and the remainder of the manipulator arm segments connected forwardly thereof are pivotally released to shorten the normal arm reach and alter the normal orientation of the manipulator arm to expedite removal without danger of collision. (auth)

Emergency retraction mechanism for the manipulator arm of a nuclear reactor vessel inspection apparatus

International Nuclear Information System (INIS)

1980-01-01

Nuclear reactor vessels are made using numerous welds. These have to be inspected, often using ultrasonic transducers mounted on a manipulator arm. This invention seeks to solve the problem of retracting the manipulator arm should an emergency occur while it is fully extended, particularly within one of the reactor vessel nozzles. Of specific concern is the situation where power fails with the manipulator arm so extended. Details are given of an emergency retraction mechanism for use in reactor vessel inspection apparatus. A manual retraction means is used; the manipulator arm is slidably mounted within a frame. This comprises a member mounted on the arm for looping engagement by a cable, the cable being fixed at one end of the arm frame and engaging the member, and a clamp for detachably securing the cable at its other end to the arm frame at a point which is accessible from above the vessel. (U.K.)

Arms control and the rule of law

International Nuclear Information System (INIS)

Tanzman, E.A.

1995-01-01

Many who speak of the end of the Cold War emphasize the warming of international relations when they speak of the momentous consequences of this event. According to this image, the half century since Trinity has been a period of sparse international communication during which the Eastern and Western blocs hibernated in their isolated dens of security alliances. Yet it is equally valid to consider the implications of the end of the war footing that has underlain the policies of all of the major military powers during the last fifty years. While meaningful international dialogue was in a state of relative lethargy during much of this period, the military establishments of the Great Powers were actively engaged in using as much force as possible in their efforts to control world affairs, short of triggering a nuclear holocaust. International discourse, at least in English, was rife with such military images as appeasement, containment, crisis stability, and tripwires. From the military posture of the U.S. and Russia a tense peace ironically emerged, but the terms by which decisions were made about controlling weapons of mass destruction (i.e., nuclear, chemical, and biological weapons) were the terms of war. The thesis of this paper is that the end of the Cold War marks a shift away from reliance on military might toward an international commitment to control weapons of mass destruction through the rule of law developed by John Rawls. The progression of agreements during this century to limit weapons of mass destruction testifies to this new development. A review of arms control agreements that the U.S. is a part of show clear growth of the rule of law as the world has left the Cold War

Arms control and the rule of law

Energy Technology Data Exchange (ETDEWEB)

Tanzman, E.A.

1995-03-01

Many who speak of the end of the Cold War emphasize the warming of international relations when they speak of the momentous consequences of this event. According to this image, the half century since Trinity has been a period of sparse international communication during which the Eastern and Western blocs hibernated in their isolated dens of security alliances. Yet it is equally valid to consider the implications of the end of the war footing that has underlain the policies of all of the major military powers during the last fifty years. While meaningful international dialogue was in a state of relative lethargy during much of this period, the military establishments of the Great Powers were actively engaged in using as much force as possible in their efforts to control world affairs, short of triggering a nuclear holocaust. International discourse, at least in English, was rife with such military images as appeasement, containment, crisis stability, and tripwires. From the military posture of the U.S. and Russia a tense peace ironically emerged, but the terms by which decisions were made about controlling weapons of mass destruction (i.e., nuclear, chemical, and biological weapons) were the terms of war. The thesis of this paper is that the end of the Cold War marks a shift away from reliance on military might toward an international commitment to control weapons of mass destruction through the rule of law developed by John Rawls. The progression of agreements during this century to limit weapons of mass destruction testifies to this new development. A review of arms control agreements that the U.S. is a part of show clear growth of the rule of law as the world has left the Cold War.

Nuclear safeguards and export controls

International Nuclear Information System (INIS)

Mueller, H.

1994-01-01

Precisely from the perspective of the two most important nonnuclear weapons states, Japan and Germany, the safeguards and arms control agendas have not been finally dealt with. Because of their central position in the nonproliferation regime as nuclear suppliers and states with large nuclear energy industries, both countries are compelled to take a leading role in pursuing future reforms. In the dialogue with the nonaligned, this leadership position is helped by their nonnuclear status. In fact, Japan and Germany have some interests in common with the nonaligned states, such as the expansion of safeguards in the nuclear weapons states. To be sure, both Japan and Germany will pursue such interests with due regard to the interests of their friends and allies. For Japan, maintaining a close relationship with the United States is as important as shaping viable relations with China. Initiatives and controversies on nuclear policy must be weighed against this interest. By the same token, Germany must take into account the dense network of relations with its allies and with Russia, in addition to the German-French friendship. This will always set limits to Germany's readiness to confront the nuclear weapons states on nuclear issues. This, however, does not mean that both countries must shut up when the P 5 speak. The nuclear weapons register and the extension of the ''erga omnes'' rule in export controls, for example, should not be relegated to the dustbin of history, just because some friendly nuclear powers don't like these ideas. (orig.)

Trends and challenges in global arms control regimes: Implications for the Mediterranean, North Africa, and the Middle East

Energy Technology Data Exchange (ETDEWEB)

Lehman, R.F. II

1994-06-01

In another sense, however, the nuclear age and ballistic missiles long ago created a much smaller world in which the distinctions between global and regional security have been lessened. In an age of weapons of mass destruction, any point on the earth can find itself suddenly at the center of world attention. This makes it all the more important that we understand all of the arms control tools available, including global approaches. In discussing global arms control regimes, I will focus primarily on those that are open to universal membership such as the Nuclear Nonproliferation Treaty (NPT) or which have global reach, such as certain export control and supplier regimes. It is important to remember, however, that certain regional, bilateral, and even unilateral arms control measures can have a global impact as well. One need only witness the impact of the Treaty on Conventional Forces in Europe (CFE). Despite its mere {open_quotes}Atlantic to the Urals{close_quotes} focus, the CFE treaty helped change the political and strategic calculations of the entire world. Likewise, the Conference on Security and Cooperation in Europe (CSCE), with its headquarters in Vienna, is centered on Europe but spreads from Vancouver to Vladivostok (or perhaps we should say from Amchitka to Kamchatka), circumnavigating much of the northern hemisphere when measured the long way around via North America. The political significance of its successes and failures outdistance CSCE`s geographical spread.

Analysis of hypothetical loss-of-control-arm accidents in HIFAR

International Nuclear Information System (INIS)

Connolly, J.W.; Clark, N.

1986-11-01

The reactor power transient produced in the HIFAR materials testing reactor upon severance of a central coarse control arm connecting rod and the subsequent pivoting of the arm out of the core has been calculated for a range of reactor conditions likely to be encountered in normal operation. It is concluded that as long as the remaining arms of the control arm bank can be relied on to suppress the post power peak oscillations in power, the reactor will withstand the consequences of such an accident

Neurobiology: motor control of flexible octopus arms.

Science.gov (United States)

Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

2005-02-10

Animals with rigid skeletons can rely on several mechanisms to simplify motor control--for example, they have skeletal joints that reduce the number of variables and degrees of freedom that need to be controlled. Here we show that when the octopus uses one of its long and highly flexible arms to transfer an object from one place to another, it employs a vertebrate-like strategy, temporarily reconfiguring its arm into a stiffened, articulated, quasi-jointed structure. This indicates that an articulated limb may provide an optimal solution for achieving precise, point-to-point movements.

Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers

Directory of Open Access Journals (Sweden)

Jian Huang

2011-09-01

Full Text Available In the previous studies, admittance control and impedance control for a finger-arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3-DOF fingers are attached to the end-effector of a 6-DOF arm to configure a multi-finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi-finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini-max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi-finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods.

Arm coordination in octopus crawling involves unique motor control strategies.

Science.gov (United States)

Levy, Guy; Flash, Tamar; Hochner, Binyamin

2015-05-04

To cope with the exceptional computational complexity that is involved in the control of its hyper-redundant arms [1], the octopus has adopted unique motor control strategies in which the central brain activates rather autonomous motor programs in the elaborated peripheral nervous system of the arms [2, 3]. How octopuses coordinate their eight long and flexible arms in locomotion is still unknown. Here, we present the first detailed kinematic analysis of octopus arm coordination in crawling. The results are surprising in several respects: (1) despite its bilaterally symmetrical body, the octopus can crawl in any direction relative to its body orientation; (2) body and crawling orientation are monotonically and independently controlled; and (3) contrasting known animal locomotion, octopus crawling lacks any apparent rhythmical patterns in limb coordination, suggesting a unique non-rhythmical output of the octopus central controller. We show that this uncommon maneuverability is derived from the radial symmetry of the arms around the body and the simple pushing-by-elongation mechanism by which the arms create the crawling thrust. These two together enable a mechanism whereby the central controller chooses in a moment-to-moment fashion which arms to recruit for pushing the body in an instantaneous direction. Our findings suggest that the soft molluscan body has affected in an embodied way [4, 5] the emergence of the adaptive motor behavior of the octopus. Copyright © 2015 Elsevier Ltd. All rights reserved.

Visual Recognition and Its Application to Robot Arm Control

Directory of Open Access Journals (Sweden)

Jih-Gau Juang

2015-10-01

Full Text Available This paper presents an application of optical word recognition and fuzzy control to a smartphone automatic test system. The system consists of a robot arm and two webcams. After the words from the control panel that represent commands are recognized by the robot system, the robot arm performs the corresponding actions to test the smartphone. One of the webcams is utilized to capture commands on the screen of the control panel, the other to recognize the words on the screen of the tested smartphone. The method of image processing is based on the Red-Green-Blue (RGB and Hue-Saturation-Luminance (HSL color spaces to reduce the influence of light. Fuzzy theory is used in the robot arm’s position control. The Optical Character Recognition (OCR technique is applied to the word recognition, and the recognition results are then checked by a dictionary process to increase the recognition accuracy. The camera which is used to recognize the tested smartphone also provides object coordinates to the fuzzy controller, then the robot arm moves to the desired positions and presses the desired buttons. The proposed control scheme allows the robot arm to perform different assigned test functions successfully.

Four Degree Freedom Robot Arm with Fuzzy Neural Network Control

Directory of Open Access Journals (Sweden)

Şinasi Arslan

2013-01-01

Full Text Available In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.

Strategic arms limitation

Science.gov (United States)

Allen Greb, G.; Johnson, Gerald W.

1983-10-01

Following World War II, American scientists and politicians proposed in the Baruch plan a radical solution to the problem of nuclear weapons: to eliminate them forever under the auspices of an international nuclear development authority. The Soviets, who as yet did not possess the bomb, rejected this plan. Another approach suggested by Secretary of War Henry Stimson to negotiate directly with the Soviet Union was not accepted by the American leadership. These initial arms limitation failures both reflected and exacerbated the hostile political relationship of the superpowers in the 1950s and 1960s. Since 1969, the more modest focus of the Soviet-American arms control process has been on limiting the numbers and sizes of both defensive and offensive strategic systems. The format for this effort has been the Strategic Arms Limitatins Talks (Salt) and more recently the Strategic Arms Reduction Talks (START). Both sides came to these negotiations convinced that nuclear arsenals had grown so large that some for of mutual restraint was needed. Although the SALT/START process has been slow and ponderous, it has produced several concrete the agreements and collateral benefits. The 1972 ABM Treaty restricts the deployment of ballistic missile defense systems, the 1972 Interim Agreement places a quantitative freeze on each side's land based and sea based strategic launchers, and the as yet unratified 1979 SALT II Treaty sets numerical limits on all offensive strategic systems and sublimits on MIRVed systems. Collateral benefits include improved verification procedures, working definitions and counting rules, and permanent bureaucratic apparatus which enhance stability and increase the chances for achieving additional agreements.

Measurement approaches to support future warhead arms control transparency

International Nuclear Information System (INIS)

Olinger, C.T.; Frankle, C.M.; Johnson, M.W.; Poths, J.

1998-01-01

Transparency on warhead stockpiles, warhead dismantlement, and fissile material stockpiles in nuclear weapons states will become increasingly important in the move beyond START II toward lower quantities of warheads. Congressional support for further warhead reductions will likely depend on the degree of irreversibility, or in other words, the rapidity with which warhead inventories could be reconstituted. Whether irreversibility considerations can be satisfied will depend on monitoring dismantlement as well as constraining the available stockpile of fissile materials for possible refabrication into warheads. Measurement techniques designed to address the above problems will need to consider NPT Article 1 obligations as well as Russian and US classification regulations, which prohibit or restrict the transfer of nuclear warhead design information to other states. Classification considerations currently limit the potential completeness of future inspections of weapons materials. Many conventional international safeguards approaches are not currently viable for arms control applications because they would reveal weapons design information. The authors discuss a variety of technical measures that may help to improve transparence of warhead and fissile material stockpiles and may enable limited warhead dismantlement transparency

Relaxation near Supermassive Black Holes Driven by Nuclear Spiral Arms: Anisotropic Hypervelocity Stars, S-stars, and Tidal Disruption Events

Energy Technology Data Exchange (ETDEWEB)

Hamers, Adrian S. [Institute for Advanced Study, School of Natural Sciences, Einstein Drive, Princeton, NJ 08540 (United States); Perets, Hagai B., E-mail: hamers@ias.edu [Technion—Israel Institute of Technology, Haifa 32000 (Israel)

2017-09-10

Nuclear spiral arms are small-scale transient spiral structures found in the centers of galaxies. Similarly to their galactic-scale counterparts, nuclear spiral arms can perturb the orbits of stars. In the case of the Galactic center (GC), these perturbations can affect the orbits of stars and binaries in a region extending to several hundred parsecs around the supermassive black hole (SMBH), causing diffusion in orbital energy and angular momentum. This diffusion process can drive stars and binaries to close approaches with the SMBH, disrupting single stars in tidal disruption events (TDEs), or disrupting binaries, leaving a star tightly bound to the SMBH and an unbound star escaping the galaxy, i.e., a hypervelocity star (HVS). Here, we consider diffusion by nuclear spiral arms in galactic nuclei, specifically the Milky Way GC. We determine nuclear-spiral-arm-driven diffusion rates using test-particle integrations and compute disruption rates. Our TDE rates are up to 20% higher compared to relaxation by single stars. For binaries, the enhancement is up to a factor of ∼100, and our rates are comparable to the observed numbers of HVSs and S-stars. Our scenario is complementary to relaxation driven by massive perturbers. In addition, our rates depend on the inclination of the binary with respect to the Galactic plane. Therefore, our scenario provides a novel potential source for the observed anisotropic distribution of HVSs. Nuclear spiral arms may also be important for accelerating the coalescence of binary SMBHs and for supplying nuclear star clusters with stars and gas.

Light Duty Utility Arm computer software configuration management plan

International Nuclear Information System (INIS)

Philipp, B.L.

1998-01-01

This plan describes the configuration management for the Light Duty Utility Arm robotic manipulation arm control software. It identifies the requirement, associated documents, and the software control methodology. The Light Duty Utility Ann (LDUA) System is a multi-axis robotic manipulator arm and deployment vehicle, used to perform surveillance and characterization operations in support of remediation of defense nuclear wastes currently stored in the Hanford Underground Storage Tanks (USTs) through the available 30.5 cm (12 in.) risers. This plan describes the configuration management of the LDUA software

Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers

Directory of Open Access Journals (Sweden)

Takayuki Hori

2011-09-01

Full Text Available In the previous studies, admittance control and impedance control for a finger‐arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3‐DOF fingers are attached to the end‐effector of a 6‐DOF arm to configure a multi‐finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi‐finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini‐max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi‐finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods.

Experimental nuclear explosions and the arms race

International Nuclear Information System (INIS)

Lenci, F.

1989-01-01

This paper discusses how experimental nuclear explosions have basically three aims: a study of the effects of nuclear weapons; the development of new nuclear weapons; and control of the efficiency and security of nuclear weapons

The importance of domestic law to international arms control

International Nuclear Information System (INIS)

Lehman, R.F. II.

1993-11-01

Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered

The importance of domestic law to international arms control

Energy Technology Data Exchange (ETDEWEB)

Lehman, R.F. II

1993-11-01

Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered.

Kinematic equations for resolved-rate control of an industrial robot arm

Science.gov (United States)

Barker, L. K.

1983-01-01

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Monitoring and Controlling an Underwater Robotic Arm

Science.gov (United States)

Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

2009-01-01

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

Dual arm master controller development

Science.gov (United States)

Kuban, D. P.; Perkins, G. S.

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented.

The nuclear present. A guide to recent books on nuclear war, weapons, the peace movement, and related issues, with a chronology of nuclear events, 1789-1991

International Nuclear Information System (INIS)

Burns, G.

1992-01-01

The Nuclear Present brings the interested reader up-to-date on significant English-language books about nuclear weapons and related topics, identifying primarily important works of nuclear non-fiction that have come out since 1984. Each reference has a paragraph of comment about its subject and value. General organizational areas include the following: Reference Works; Nuclear weapons and Nuclear war (14 sub-headings including overviews, development, effects, tests, arms race, prospectives, legal considerations etc.); Strategy; proliferation; Stratigic Defense; Arms control and disarmament; ethical, pholosophical and religous perspectives; new paths to peace; periodic guide; the Chernobyl Disaster. An extensive Nuclear Chronology (1789-1991) written by the author allows a fairly detailed sense of the historical record of nuclear weapons, including testing, manufacture, use and movements for arms control and disarmament

EEG Mind Controlled Smart Prosthetic Arm – A Comprehensive Study

Directory of Open Access Journals (Sweden)

Taha Beyrouthy

2017-06-01

Full Text Available Recently, the field of prosthetics has seen many accomplishments especially with the integration of technological advancements. In this paper, different arm types (robotic, surgical, bionic, prosthetic and static are analyzed in terms of resistance, usage, flexibility, cost and potential. Most of these techniques have some problems; they are extremely expensive, hard to install and maintain and may require surgery. Therefore, our work introduces the initial design of an EEG mind controlled smart prosthetic arm. The arm is controlled by the brain commands, obtained from an electroencephalography (EEG headset, and equipped with a network of smart sensors and actuators that give the patient intelligent feedback about the surrounding environment and the object in contact. This network provides the arm with normal hand functionality, smart reflexes and smooth movements. Various types of sensors are used including temperature, pressure, ultrasonic proximity sensors, accelerometers, potentiometers, strain gauges and gyroscopes. The arm is completely 3D printed built from various lightweight and high strength materials that can handle high impacts and fragile elements as well. Our project requires the use of nine servomotors installed at different places in the arm. Therefore, the static and dynamic modes of servomotors are analyzed. The total cost of the project is estimated to be relatively cheap compared to other previously built arms. Many scenarios are analyzed corresponding to the actions that the prosthetic arm can perform, and an algorithm is created to match these scenarios. Experimental results show that the proposed EEG Mind-controlled Arm is a promising alternative for current solutions that require invasive and expensive surgical procedures.

China and Japan’s Strategic Nuclear Relationship

Science.gov (United States)

2009-09-01

Nuclear Numerology Chinese Style,” Arms Control Today (March, 2005); Robert S. Norris, “Chinese Nuclear Forces 2008,” Bulletin of the Atomic...Bulletin of the Atomic Scientists, May/June. ———. 2005. “Letters to the Editor: Nuclear Numerology Chinese Style,” Arms Control Today, March

Photoelectric radar servo control system based on ARM+FPGA

Science.gov (United States)

Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

2016-01-01

In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a

Acceptance criteria for determining armed response force size at nuclear power plants

International Nuclear Information System (INIS)

1983-02-01

This guidance document contains acceptance criteria to be used in the NRC license review process. It consists of a scored worksheet and guidelines for interpreting the worksheet score that can be used in determining the adequacy of the armed response force size at a nuclear power reactor facility

Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB

OpenAIRE

Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

2013-01-01

The main objective of this study is how to quickly establish the virtual prototyping model of robot arm system and effectively solve trajectory tracking control for a given signal. Taking the 2-DOF robot arm as an example, a co-simulation control method is introduced to research multi-body dynamics. Using Newton-Euler and Lagrange method, respectively establish the dynamics model of robot arm and verify the correctness of equations. Firstly, the physical model of robot arm was built by PROE a...

Robot-Arm Dynamic Control by Computer

Science.gov (United States)

Bejczy, Antal K.; Tarn, Tzyh J.; Chen, Yilong J.

1987-01-01

Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

Science.gov (United States)

Lew, Jae Young; Book, Wayne J.

1991-01-01

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Arms control agency faces uncertain future

International Nuclear Information System (INIS)

Ember, L.

1993-01-01

National security cognoscenti are busy sifting tea leaves trying to puzzle out the fate of arms control and nonproliferation policy in the new Administration. Of special concern to these policy gurus is the future of the semiautonomous Arms Control and Disarmament Agency (ACDA). ACDA's existence as a separate entity on the executive branch's organization chart is precarious. The agency has never functioned as intended since Congress created it in 1961. Its stock over the decades has ebbed and flowed, paralleling the prominence and clout of its director. And except for a few notable successes--the conclusion of the chemical weapons treaty being one--the agency's authority has plummeted in the past 14 years. Today, almost every interested party agrees that something has to be done, that the agency cannot continue as it now functions. Several recent studies have called for its rejuvenation. Still other studies have suggested that ACDA be dismantled, and those activities relevant to national security in a post-Cold War environment be shifted to and integrated into the State Department. Observers expect ACDA to evolve into an agency whose primary focus is on problems of proliferation. In a world in which tighter export controls on dual-use technologies, restraint on arms transfers, and economic assistance conditional on a recipients's security behavior will be the norm for security and stability, a role for ACDA as the U.S.'s nonproliferation nanny is not a bad one

Dynamic model of the octopus arm. II. Control of reaching movements.

Science.gov (United States)

Yekutieli, Yoram; Sagiv-Zohar, Roni; Hochner, Binyamin; Flash, Tamar

2005-08-01

The dynamic model of the octopus arm described in the first paper of this 2-part series was used here to investigate the neural strategies used for controlling the reaching movements of the octopus arm. These are stereotypical extension movements used to reach toward an object. In the dynamic model, sending a simple propagating neural activation signal to contract all muscles along the arm produced an arm extension with kinematic properties similar to those of natural movements. Control of only 2 parameters fully specified the extension movement: the amplitude of the activation signal (leading to the generation of muscle force) and the activation traveling time (the time the activation wave takes to travel along the arm). We found that the same kinematics could be achieved by applying activation signals with different activation amplitudes all exceeding some minimal level. This suggests that the octopus arm could use minimal amplitudes of activation to generate the minimal muscle forces required for the production of the desired kinematics. Larger-amplitude signals would generate larger forces that increase the arm's stability against perturbations without changing the kinematic characteristics. The robustness of this phenomenon was demonstrated by examining activation signals with either a constant or a bell-shaped velocity profile. Our modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

Farewell to arms. What's blocking nuclear disarmament

International Nuclear Information System (INIS)

Mueller, Harald

2005-01-01

In the 1960s, when the United States and Soviet Union submitted their draft non-proliferation treaty to the 18-member Disarmament Committee in Geneva, it was exactly that - a treaty to prevent the proliferation of nuclear weapons to more States. It prohibited non-nuclear weapon States from acquiring nuclear weapons and prohibited the five acknowledged nuclear-weapon States from supplying them. However, it was not possible to conclude a treaty on those terms alone. Consequently, Article IV (on peaceful nuclear cooperation) and VI (on disarmament) were added. Only on the basis of this 'bargain' could the global Nuclear Non-Proliferation Treaty (NPT) come into existence. It is ironic that the nuclear-weapon States that care for their own sovereignty rights would overlook that sovereignty is also dear to other States.Today, in an era of stagnating nuclear disarmament, one hears voices from some nuclear-weapon States that the disarmament stipulation was without substance and unnecessary. They argue that non-nuclear weapon States care only about their security and nothing else. If the Treaty is perceived as losing its value, withdrawing from it might eventually be seen as a consideration. At this point, non-nuclear weapon States had believed that they shared with their nuclear-armed counterparts a solid outlook on how to proceed with the implementation of Article VI. No one had the illusion that all the steps would be strictly implemented. Most accepted that the failure to achieve an agreed amendment to the Anti-Ballistic Missile Treaty between Washington and Moscow led to the scrapping of that Treaty. But the pathetic under-achievement of the 'Thirteen Steps,' accompanied by statements of several nuclear-weapon States that they did not feel bound by these agreed measures came as a shock and led to great frustration among the majority of NPT members. If we start from the notion of the 'bargain' and accept that nuclear disarmament will not happen overnight, nuclear

Preventive arms control. Case study: plutonium disposition. Final report

International Nuclear Information System (INIS)

Liebert, W.

2001-01-01

Plutonium stored in separated form poses a severe threat of nuclear weapons proliferation. While options for the disposition of military plutonium stockpiles have been studied for several years, similar work has hardly been undertaken for plutonium stockpiles in the civilian sector. In the framework of this project, the various options to dispose of stockpiles of separated plutonium in the civilian sector were to be investigated. The project was embedded in the FONAS-project network on Preventive Arms Control, and the findings of this study were to be considered for the development of a concept of Preventive Arms Control. As a first step, the internationally available information on different options for plutonium disposition (MOX-use, immobilization together with radioactive wastes, elimination) were collected and compiled to allow further assessment of the different options. For some of the options, technical questions were examined in more detail. For this purpose, neutron transport and fuel burnup calculations were performed. In particular, the analysis focused on concepts for the elimination of plutonium by the use of uranium-free fuel in existing light-water reactors, since they are particularly attractive from the point of view of non-proliferation. The calculations were performed for a reference fuel based on yttrium-stabilized zirconia, with parameters like the initial plutonium content or the use of burnable neutron poisons varying. A systematic and complete analysis of the performed calculations, however, could not be undertaken due to project time restrictions. On the basis of assessment criteria for Preventive Arms Control developed by the project network, a specific set of criteria for the assessment of the pros and cons of different plutonium disposition methods has been defined. These criteria may then be used as part of a concept of prospective technology assessment. The project findings present a starting base for a comprehensive assessment of the

Analyst Tools and Quality Control Software for the ARM Data System

Energy Technology Data Exchange (ETDEWEB)

Moore, S.T.

2004-12-14

ATK Mission Research develops analyst tools and automated quality control software in order to assist the Atmospheric Radiation Measurement (ARM) Data Quality Office with their data inspection tasks. We have developed a web-based data analysis and visualization tool, called NCVweb, that allows for easy viewing of ARM NetCDF files. NCVweb, along with our library of sharable Interactive Data Language procedures and functions, allows even novice ARM researchers to be productive with ARM data with only minimal effort. We also contribute to the ARM Data Quality Office by analyzing ARM data streams, developing new quality control metrics, new diagnostic plots, and integrating this information into DQ HandS - the Data Quality Health and Status web-based explorer. We have developed several ways to detect outliers in ARM data streams and have written software to run in an automated fashion to flag these outliers.

Cold War Arms Control Motivations and Techniques - A Guide for the Future?

National Research Council Canada - National Science Library

White, Elmer

1996-01-01

.... This paper provides a brief historical account of some of the arms control agreements between the U.S. and the Soviet Union, examines their major motivations to enter into negotiations, and illustrates some successful negotiation techniques. The author hypothesizes on the utility of this Cold War arms control experience as a useful guide for arms control in a single superpower world.

Dual arm master controller concept

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1984-01-01

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

The effect of the development of theatre missile defences on the arms control structure

International Nuclear Information System (INIS)

Liu Min

1998-01-01

Th arms control structure usually refers to current and past results of the efforts by the USA and former Soviet Union to negotiate strategic arms control agreements. The structure is to be represented by the various arms control agreements, such as the Strategic Arms Limitation Talks (SALT) and the strategic Reduction Talks (START). Whatever the motives of the parties to these agreements, today people commonly regard the structure as the best way to achieve strategic stability. The profile od arms control and the impact of the Anti-Ballistic Missile (ABM) Treaty, to understand how the Theatre Missile Defence (TMD) program affects the arms control structure

Arms Control, Disarmament, and Peace Newsletters.

Science.gov (United States)

Atkins, Stephen

1986-01-01

Considers the research value of four types of newsletters on arms control, disarmament, and peace: direct-action, informational, scholarly, and single-issue. An annotated list of 58 newsletters includes those considered most significant of their type and recommended for library collections. (EM)

Association of hand and arm disinfection with asthma control in US nurses.

Science.gov (United States)

Dumas, Orianne; Varraso, Raphäelle; Boggs, Krislyn M; Descatha, Alexis; Henneberger, Paul K; Quinot, Catherine; Speizer, Frank E; Zock, Jan-Paul; Le Moual, Nicole; Camargo, Carlos A

2018-05-01

To investigate the association between occupational exposure to disinfectants/antiseptics used for hand hygiene and asthma control in nurses. In 2014, we invited female nurses with asthma drawn from the Nurses' Health Study II to complete two supplemental questionnaires on their occupation and asthma (cross-sectional study, response rate: 80%). Among 4055 nurses (mean age: 59 years) with physician-diagnosed asthma and asthma medication use in the past year, we examined asthma control, as defined by the Asthma Control Test (ACT). Nurses were asked about the daily frequency of hand hygiene tasks: 'wash/scrub hands with disinfectants/hand sanitizers' (hand hygiene) and 'wash/scrub arms with disinfecting products' (surrogate of surgical hand/arm antisepsis). Analyses were adjusted for age, race, ethnicity, smoking status and body mass index. Nurses with partly controlled asthma (ACT: 20-24, 50%) and poorly controlled asthma (ACT ≤19, 18%) were compared with nurses with controlled asthma (ACT=25, 32%). In separate models, both hand and arm hygiene were associated with poorly controlled asthma. After mutual adjustment, only arm hygiene was associated with poorly controlled asthma: OR (95% CI) for arm hygiene tasks (never to >10 times/day) and poor asthma control. Associations persisted after further adjustment for surfaces/instruments disinfection tasks. Frequency of hand/arm hygiene tasks in nurses was associated with poor asthma control. The results suggest an adverse effect of products used for surgical hand/arm antisepsis. This potential new occupational risk factor for asthma warrants further study. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2018. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

Research on applications of ARM-LINUX embedded systems in manufacturing the nuclear equipment

International Nuclear Information System (INIS)

Nguyen Van Sy; Phan Luong Tuan; Nguyen Xuan Vinh; Dang Quang Bao

2016-01-01

A new microprocessor system that is ARM processor with open source Linux operating system is studied with the objective to apply ARM-Linux embedded systems in manufacturing the nuclear equipment. We use the development board of the company to learn and to build the workflow for an embedded system, then basing on the knowledge we design a motherboard embedded systems interface with the peripherals is buttons, LEDs through GPIO interface and connected with GM counting system via RS232 interface. The results of this study are: i) The procedures for working with embedded systems: process customization, installation embedded operating system and installation process, configure the development tools on the host computer; ii) ARM-Linux motherboard embedded systems interface with the peripherals and GM counting system, indicating the counts from GM counting system on the touch screen. (author)

Cooperative Mmonitoring Center Occasional Paper/5: Propspects of Conventional Arms Control in South Asia

Energy Technology Data Exchange (ETDEWEB)

Gupta, Amit; Kamal, Nazir

1998-11-01

The intensely adversarial relationship between India and Pakistan is marked by military rivalry, mutual distrust, and suspicion. The most dividing disagreement has been over the Kashmir region. An inability to discuss the Kashmir issue has prevented discussion on other important issues. Since there is little prospect of detente, at least in the near-term, the question is whether this rivalry can be contained by other means, such as arms control approaches. Conventional arms control has been applied flexibly and successfully in some regions to reduce threat-perceptions and achieve reassuring military stability. Some lessons from other international models might be applied to the India/Pakistan context. This paper discusses the status of conventional arms control in South Asia, the dominant Indian and Pakistani perceptions about arms control, the benefits that could be derived from arms control, as well as the problems and prospects of arms control. It also discusses existing conventional arms control agreements at the regional and global levels as well as the potential role of cooperative monitoring technology.

Nuclear issues on the agenda of the conference on disarmament

International Nuclear Information System (INIS)

Bernauer, T.

1991-01-01

This research report examines three nuclear arms control and disarmament issues which figure on the agenda of the Conference on Disarmament - security assurance to non-nuclear-weapon States, the prevention of nuclear war, and the cessation of the nuclear arms race and nuclear disarmament

Uranium-233 waste definition: Disposal options, safeguards, criticality control, and arms control

International Nuclear Information System (INIS)

Forsberg, C.W.; Storch, S.N.; Lewis, L.C.

1998-01-01

The US investigated the use of 233 U for weapons, reactors, and other purposes from the 1950s into the 1970s. Based on the results of these investigations, it was decided not to use 233 U on a large scale. Most of the 233 U-containing materials were placed in long-term storage. At the end of the cold war, the US initiated, as part of its arms control policies, a disposition program for excess fissile materials. Other programs were accelerated for disposal of radioactive wastes placed in storage during the cold war. Last, potential safety issues were identified related to the storage of some 233 U-containing materials. Because of these changes, significant activities associated with 233 U-containing materials are expected. This report is one of a series of reports to provide the technical bases for future decisions on how to manage this material. A basis for defining when 233 U-containing materials can be managed as waste and when they must be managed as concentrated fissile materials has been developed. The requirements for storage, transport, and disposal of radioactive wastes are significantly different than those for fissile materials. Because of these differences, it is important to classify material in its appropriate category. The establishment of a definition of what is waste and what is fissile material will provide the guidance for appropriate management of these materials. Wastes are defined in this report as materials containing sufficiently small masses or low concentrations of fissile materials such that they can be managed as typical radioactive waste. Concentrated fissile materials are defined herein as materials containing sufficient fissile content such as to warrant special handling to address nuclear criticality, safeguards, and arms control concerns

Research on the man in the loop control system of the robot arm based on gesture control

Science.gov (United States)

Xiao, Lifeng; Peng, Jinbao

2017-03-01

The Man in the loop control system of the robot arm based on gesture control research complex real-world environment, which requires the operator to continuously control and adjust the remote manipulator, as the background, completes the specific mission human in the loop entire system as the research object. This paper puts forward a kind of robot arm control system of Man in the loop based on gesture control, by robot arm control system based on gesture control and Virtual reality scene feedback to enhance immersion and integration of operator, to make operator really become a part of the whole control loop. This paper expounds how to construct a man in the loop control system of the robot arm based on gesture control. The system is a complex system of human computer cooperative control, but also people in the loop control problem areas. The new system solves the problems that the traditional method has no immersion feeling and the operation lever is unnatural, the adjustment time is long, and the data glove mode wears uncomfortable and the price is expensive.

Learning and Control Model of the Arm for Loading

Science.gov (United States)

Kim, Kyoungsik; Kambara, Hiroyuki; Shin, Duk; Koike, Yasuharu

We propose a learning and control model of the arm for a loading task in which an object is loaded onto one hand with the other hand, in the sagittal plane. Postural control during object interactions provides important points to motor control theories in terms of how humans handle dynamics changes and use the information of prediction and sensory feedback. For the learning and control model, we coupled a feedback-error-learning scheme with an Actor-Critic method used as a feedback controller. To overcome sensory delays, a feedforward dynamics model (FDM) was used in the sensory feedback path. We tested the proposed model in simulation using a two-joint arm with six muscles, each with time delays in muscle force generation. By applying the proposed model to the loading task, we showed that motor commands started increasing, before an object was loaded on, to stabilize arm posture. We also found that the FDM contributes to the stabilization by predicting how the hand changes based on contexts of the object and efferent signals. For comparison with other computational models, we present the simulation results of a minimum-variance model.

Interface Based on Electrooculography for Velocity Control of a Robot Arm

Directory of Open Access Journals (Sweden)

Eduardo Iáñez

2010-01-01

Full Text Available This paper describes a technique based on electrooculography to control a robot arm. This technique detects the movement of the eyes, measuring the difference of potential between the cornea and the retina by placing electrodes around the ocular area. The processing algorithm developed to obtain the position of the eye at the blink of the user is explained. The output of the processing algorithm offers, apart from the direction, four different values (zero to three to control the velocity of the robot arm according to how much the user is looking in one direction. This allows controlling two degrees of freedom of a robot arm with the eyes movement. The blink has been used to mark some targets in tests. In this paper, the experimental results obtained with a real robot arm are shown.

Nuclear deterrence revisited

International Nuclear Information System (INIS)

Sur, S.

1993-01-01

One of the most important consequences of the profound changes that have affected the international system over recent years undoubtedly relates to nuclear deterrence. As a cornerstone of East-West relations, and the foundation of the arms control effort which dominated all other approaches to disarmament, it embodied the permanent opposition between two camps as well as the limits to their confrontation. This presentation deals with permanence of the basic elements concerning deterrence of nuclear weapons and arms control. Evolution of deterrence is presented, including prospects of spread of nuclear capabilities, political foundations of deterrence, fragility of the non-proliferation efforts as well as problems concerned with management of deterrence

Dual arm master controller development

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. This work was performed as part of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 5 refs., 7 figs., 1 tab

Approaches to regional security and arms control in North-East Asia: Tasks ahead

International Nuclear Information System (INIS)

Lee Seo-Hang

1992-01-01

In order to pave the way towards regional security and arms control in North-East Asia, one of the outstanding issues left over from the cold war, that is, the question of a divided Korea-must be solved first. In settling the Korean problem, the importance of the bilateral negotiation between the parties in direct conflict can never be overemphasized. Over the past few years, fortunately, there has been an accumulation of developments that would have a positive effect on the improvement of inter-Korean relations and peaceful unification of the peninsula. In this sense, the first challenge for the two Koreas is to fulfil the pledges that they committed in the agreements. Concluding agreements is only a first step. They must be implemented fully both in letter and in spirit. Only upon the sincere and complete translation of the agreements into action can the two Koreas establish a solid peace system and move towards unification. This fulfilment will eventually contribute to security and stability in North-East Asia. To emphasize the importance of bilateral negotiation between the two Koreas is not necessarily to exclude the role of external Powers. The four major Powers in North-East Asia-China, Japan, Russia and the United States - could support the South-North dialogue, help ease tensions, facilitate discussion of common security concerns and possibly guarantee the outcomes negotiated between the two Koreas. By fostering bilateral negotiation between the parties to the conflict, they could contribute to enhancing security, confidence and disarmament in the region. At this moment, the most urgent task in the Korean peninsula relates to the problem of Pyongyang's nuclear weapons programme. To solve the nuclear problem, a significant progress on mutual reciprocal inspections must be made immediately in accordance with the wordings of the Declaration. Mutual inspection will test whether Pyongyang intends to go towards nuclear weapons, or away from them and towards

Resource Letter PNAR-1: Physics and the nuclear arms race

International Nuclear Information System (INIS)

Schroeer, D.; Dowling, J.

1982-01-01

This collection of article and book references was assembled to help physicists understand and teach about the nuclear arms race. Both technical and political aspects are covered. Entries are therefore marked as elementary for the layman (E), intermediate for college freshman (I), and advanced for the college senior or graduate student (A) for both the technical (t) and the social (s) aspects. Articles or books which are excerpted in a reprint volume (to be published separately by the American Association of Physics Teachers) are marked with an asterisk

A biologically inspired neural network controller for ballistic arm movements

Directory of Open Access Journals (Sweden)

Schmid Maurizio

2007-09-01

Full Text Available Abstract Background In humans, the implementation of multijoint tasks of the arm implies a highly complex integration of sensory information, sensorimotor transformations and motor planning. Computational models can be profitably used to better understand the mechanisms sub-serving motor control, thus providing useful perspectives and investigating different control hypotheses. To this purpose, the use of Artificial Neural Networks has been proposed to represent and interpret the movement of upper limb. In this paper, a neural network approach to the modelling of the motor control of a human arm during planar ballistic movements is presented. Methods The developed system is composed of three main computational blocks: 1 a parallel distributed learning scheme that aims at simulating the internal inverse model in the trajectory formation process; 2 a pulse generator, which is responsible for the creation of muscular synergies; and 3 a limb model based on two joints (two degrees of freedom and six muscle-like actuators, that can accommodate for the biomechanical parameters of the arm. The learning paradigm of the neural controller is based on a pure exploration of the working space with no feedback signal. Kinematics provided by the system have been compared with those obtained in literature from experimental data of humans. Results The model reproduces kinematics of arm movements, with bell-shaped wrist velocity profiles and approximately straight trajectories, and gives rise to the generation of synergies for the execution of movements. The model allows achieving amplitude and direction errors of respectively 0.52 cm and 0.2 radians. Curvature values are similar to those encountered in experimental measures with humans. The neural controller also manages environmental modifications such as the insertion of different force fields acting on the end-effector. Conclusion The proposed system has been shown to properly simulate the development of

Lessons from UNSCOM/IAEA applicable to nuclear arms control

Energy Technology Data Exchange (ETDEWEB)

Dorn, D.W.

1995-12-05

In early 1991, the Security Council of the United Nations tasked the Director General of the International Atomic Energy Agency, with the assistance and cooperation of the United Nations Special Commission, to oversee the destruction, removal or rendering harmless of nuclear weapons material and capabilities in Iraq. The conduct of the nuclear inspections, and the subsequent activities (identification, destruction, removal rendering harmless), have provided a wealth of experience and insight into the inspection and monitoring process as well as into the political realities of such an operation. The early inspections were conducted in an atmosphere of discovery and inexperience on both the part of the Iraqis and the IAEA and UNSCOM. As time went on, the Iraqis became more adept at hiding and obscuring relevant documents and equipment, and the inspection teams became more knowledgeable about inspection and investigative techniques, and the pre-existing Iraqi programs. A continuous monitoring presence in Iraq has now been established and an import/export monitoring regime is being developed. While steps taken to date have proven effective in inhibiting resumption of nuclear weaponization activities, it remains to be seen how effective these measures will be in the future. The external and internal conditions which led the Iraqi leadership to undertake a nuclear weaponization program have not changed, and the prognosis for the long term is uncertain. The entire process in Iraq has shown how fragile are the tools available to the international community, and how a determined proliferator can evade inspection and monitoring measures. Such measures cannot prevent nuclear proliferation, they can only hope to deter it, or, failing in that, detect it.

Measures for regional security and arms control in the South-East Asian area

International Nuclear Information System (INIS)

Uren, R.T.

1992-01-01

The subject of regional security and arms control in the South-East Asia raises some new and difficult issues. No approach to ensuring regional security could be complete without military dimension including the following categories: regional arms control; global arms control measure; confidence building measures that are designed to enhance the transparency of defense policies; confidence building measures that encourage cooperation among the military forces in the region

U.S.-Russian cooperation in nuclear disarmament and nonproliferation

Science.gov (United States)

Podvig, Pavel

2010-02-01

The United States and Russia, the two largest nuclear powers, have a special obligation to provide leadership in nuclear disarmament and in strengthening the nuclear non-proliferation regime. In the past year the two countries made an effort to restart the arms control process by concluding a new treaty that would bring their legal disarmament obligations in line with the realities of their post-cold war relationships. The process of negotiating deeper nuclear reductions in the new environment turned out to be rather difficult, since the approaches that the countries used in the past are not well suited to dealing with issues like conversion of strategic nuclear delivery systems to conventional missions, tactical nuclear weapons, or dismantlement of nuclear warheads. This presentation considers the recent progress in U.S.-Russian arms control process and outlines the key issues at the negotiations. It also considers prospects for further progress in bilateral nuclear disarmament and issues that will be encountered at later stages of the process. The author argues that success of the arms reductions will depend on whether the United States and Russia will be able to build an institutional framework for cooperation on a range of issues - from traditional arms control to securing nuclear materials and from missile defense to strengthening the international nuclear safeguards. )

Nuclear disarmament and non-proliferation in Northeast Asia

International Nuclear Information System (INIS)

Han Yong-Sup

1995-01-01

This paper attempted to find out ways to facilitate bilateral and regional arms control regarding nuclear issues in Northeast Asia. This is done in order to reduce uncertainties regarding nuclear policy and capabilities of those countries, and thus to enhance transparency and confidence in the region. In order to bring them into the nuclear disarmament and non-proliferation process in an effective way, we revisited the issues that contributed to the acceleration of the arms race. The review provided insights into the future course of China, the two Koreas and Japan regarding their nuclear policy and capabilities. The findings of this study indicate a general likelihood of resistance to outside request for arms control and disarmament in the countries in Northeast Asia. Besides their continuation with the conventional arms race, countries in Northeast Asia are reluctant to go ahead with the programmes to enhance transparency, build confidence in the region, and to forgo intentions to go nuclear. China is slowly but steadily increasing its nuclear arsenals. Its nuclear arms control policy is not well integrated with nuclear policy and strategy, and it is subject to the overarching goal of nuclear policy and strategy to advance China's status and national security interests in the international community. Thus, it will be very difficult for other countries to bring China to the arms control process for the time being. North Korea has intended to develop nuclear weapons in order to hedge against uncertainties. This poses a threat to the NPT regime and the peace and security of Northeast Asia. Clearly, North Korea has shown its reluctance to disclose the entirety of its nuclear programme under the IAEA inspections. Although South Korea has taken a bold initiative to forgo uranium enrichment and reprocessing capabilities, it has still not fully paid off. Japan adds the problem of plutonium surplus to the uncertain security environments surrounding Northeast Asia

Conventional arms control negotiations in Europe (CFE, March 1989-April 1990)

International Nuclear Information System (INIS)

Buerstedde, L.

1992-01-01

This paper reports that for those of us who labored in the salt mines of arms control talks on Mutual and Balanced Force Reductions (MBFR), it is truly an invigorating experience to have been reincarnated as conventional arms controllers at the Negotiations on Conventional Armed Forces in Europe (CFE), in session in Vienna since March 1989, against the background of the breathtaking and unprecedented changes sweeping across Eastern Europe. The negotiations have made remarkable progress, proceeding to a point where a treaty drastically cutting the level of conventional armaments in Europe is not just a possibility but actually in prospect

Disarmament through regional dialogue: United States arms control and disarmament policies

International Nuclear Information System (INIS)

Holum, J.D.

1994-01-01

Less than fifty years ago, Japan and the United States faced one another in history's deadliest conflict. Since that world war, the competition has been limited to a mature-if spirited-contest for customers. The two countries have become firm friends for peace-and leaders in the international community's campaign against weapons of mass destruction. This friendship is too important to be shaken by momentary upsets. The countries that learned the most from the last great war are today among the most resolutely peaceful in the world. To my mind, it is no coincidence that Japan and Germany, two nations which transformed defeat in that war into remarkable economic success following it-which have sought prosperity and harmony with their neighbours instead of dominion over them-are the two nations the United States would like to see added as permanent members to the United Nations Security Council. There is hope that, some day, countries may be judged not by the arms but the commitments they keep-and the values they uphold. All responsible nations must affirm that nuclear non-proliferation is an enduring value, not a passing policy. United States Arms Control and Disarmament Agency underlines that its highest priority in the coming year is indefinite and unconditional extension of the Non-proliferation Treaty

27 CFR 479.193 - Arms Export Control Act.

Science.gov (United States)

2010-04-01

..., AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating to...

Renovating U.S. Strategic Arms Control Policy. Strategic Forum, Number 178, February 2001

National Research Council Canada - National Science Library

Sokolsky, Richard

2001-01-01

...) negotiations concluded in the early 1990s. The Soviet Union and the Warsaw Pact are defunct. America and Russia are no longer enemies and the nuclear arms race between the two countries, for all intents and purposes...

Arms control in space: workshop proceedings, Washington, DC, January 30-31, 1984

International Nuclear Information System (INIS)

1984-05-01

In late 1982 and early 1983, the Subcommittee on Arms Control, Oceans, International Operations, and Environment of the Senate Committee on Foreign Relations held hearings on space weapons and arms control. To explore these issues further in a discussion format not easily achieved in hearings, Sen. Larry Pressler, Chairman of the Subcommittee, asked OTA to conduct a workshop focusing on antisatellite (ASAT) weapons as one aspect of space arms control. The workshop held in Washington, DC on January 30 and 31, 1984, provided an opportunity for technical, diplomatic, military, and policy-analysis experts to interact, think out loud, and build each other's ideas. The workshop was organized into six sessions, although issues involving anti-satellite weapons and arms control are not easily compartmentalized into distinct subject areas. Each session was introduced by a 10- or 15-minute informal oral presentation which set the stage for further discussion. This workshop proceedings volume is organized along the same divisions as the sessions, with some rearrangement

Developing and modeling of voice control system for prosthetic robot arm in medical systems

Directory of Open Access Journals (Sweden)

Koksal Gundogdu

2018-04-01

Full Text Available In parallel with the development of technology, various control methods are also developed. Voice control system is one of these control methods. In this study, an effective modelling upon mathematical models used in the literature is performed, and a voice control system is developed in order to control prosthetic robot arms. The developed control system has been applied on four-jointed RRRR robot arm. Implementation tests were performed on the designed system. As a result of the tests; it has been observed that the technique utilized in our system achieves about 11% more efficient voice recognition than currently used techniques in the literature. With the improved mathematical modelling, it has been shown that voice commands could be effectively used for controlling the prosthetic robot arm. Keywords: Voice recognition model, Voice control, Prosthetic robot arm, Robotic control, Forward kinematic

Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

Directory of Open Access Journals (Sweden)

Tianliang Liu

2016-05-01

Full Text Available When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

Double-arm time-of-flight mass-spectrometer of nuclear fragments

International Nuclear Information System (INIS)

Ajvazian, G.M.; Astabatyan, R.A.

1995-01-01

A double-arm time-of-flight spectrometer of nuclear fragments for the investigation of heavy nuclei photofission in the intermediate energy range is described. The calibration results and working characteristics of the spectrometer, obtained using 252 Cf as a source of spontaneous fission, are presented. A mass resolution of σ m ∼2-3 a.m.u. was obtained within the registered fragments mass range of 80-160 a.m.u. The spectrometer was tested in the experiment on the investigation of 238 U nuclei fission by Bremsstahlung photons with Eγ max=1.75 GeV

Overview: Mechanism and Control of a Prosthetic Arm.

Science.gov (United States)

Kulkarni, Tushar; Uddanwadiker, Rashmi

2015-09-01

Continuous growth in industrialization and lack of awareness in safety parameters the cases of amputations are growing. The search of safer, simpler and automated prosthetic arms for managing upper limbs is expected. Continuous efforts have been made to design and develop prosthetic arms ranging from simple harness actuated to automated mechanisms with various control options. However due the cost constraints, the automated prosthetic arms are still out of the reach of needy people. Recent data have shown that there is a wide scope to develop a low cost and light weight upper limb prosthesis. This review summarizes the various designs methodologies, mechanisms and control system developed by the researchers and the advances therein. Educating the patient to develop acceptability to prosthesis and using the same for the most basic desired functions of human hand, post amputation care and to improve patient's independent life is equally important. In conclusion it can be interpreted that there is a wide scope in design in an adaptive mechanism for opening and closing of the fingers using other methods of path and position synthesis. Simple mechanisms and less parts may optimize the cost factor. Reduction in the weight of the prosthesis may be achieved using polymers used for engineering applications. Control system will remain never ending challenge for the researchers, but it is essential to maintain the simplicity from the patients perspective.

Symbolic representations of weapons and preparations for conflict: The nuclear arms race

Energy Technology Data Exchange (ETDEWEB)

Bassin, E.L.

1991-01-01

This study investigates the process through which actors acquire weapons in preparation for a confrontation with some rival. A theory is developed to account for those preparations rooted in two social psychological perspectives; social exchange theory and symbolic interactionism. The empirical aspect of the study deals with the nuclear arms race between the US and Soviet Union. The first portion involves a qualitative analysis to uncover the meaning system. The second portion involves a quantitative test of the theory. Data cover all 53 long range strategic missile systems ever deployed by the US or USSR. Results lend support for the idea of a meaning-based theory of preparation for conflict. By operationalizing weapons as actors perceive the objects in their environment, the results of this study provide a higher level of fit than found in earlier arms race research.

Symbolic representations of weapons and preparations for conflict: The nuclear arms race

International Nuclear Information System (INIS)

Bassin, E.L.

1991-01-01

This study investigates the process through which actors acquire weapons in preparation for a confrontation with some rival. A theory is developed to account for those preparations rooted in two social psychological perspectives; social exchange theory and symbolic interactionism. The empirical aspect of the study deals with the nuclear arms race between the US and Soviet Union. The first portion involves a qualitative analysis to uncover the meaning system. The second portion involves a quantitative test of the theory. Data cover all 53 long range strategic missile systems ever deployed by the US or USSR. Results lend support for the idea of a meaning-based theory of preparation for conflict. By operationalizing weapons as actors perceive the objects in their environment, the results of this study provide a higher level of fit than found in earlier arms race research

Nuclear Non-Proliferation and Export Control in the Republic of Croatia

International Nuclear Information System (INIS)

Valcic, I.; Prah, M.; Mikec, N.

2006-01-01

In accordance with its internationally accepted obligations, the Republic of Croatia is actively implementing principles of non-proliferation and export control of nuclear materials and/or equipment. The article deals with treaties, conventions, agreements and other international arrangements that are creating certain obligation for Republic of Croatia related to nuclear non-proliferation. The most important are the Treaty on the Non-proliferation of Nuclear Weapons, the Convention on the Physical Protection of Nuclear Material, the Agreement between the Republic of Croatia and the International Atomic Energy Agency for the Application of Safeguards with Protocol, the Protocol Additional to the Agreement Between the Republic of Croatia and the International Atomic Energy Agency for the Application of Safeguards, the Comprehensive Nuclear Test-Ban Treaty, the NSG Guidelines for the Export of Nuclear Material, Equipment and Technology and NSG Guidelines for Transfers of Nuclear-Related Dual-Use Equipment, Materials, Software and Related Technology. In addition the article describes a national regulative framework, the basis for conducting activities in nuclear material control, export control of dual-use items as well as non-proliferation of the weapons of mass destruction. Details are given about the Nuclear Safety Act, the Act on Liability for Nuclear Damage, the Act on Export of Dual-Use Items, the Decree on the List of Dual-Use Items, the Law on Production, Repair and Trade in Arms and Military Equipment and the Decree specifying goods subject to export and import licenses. (author)

Report on the INMM Workshop on preparing for nuclear arms reductions to address technical transparency and verification challenges

International Nuclear Information System (INIS)

Dreicer, M.; Dalnoki-Veress, F.; Lewis, P.

2013-01-01

In May 2011, a workshop was held to develop broader awareness of the technical and operational challenges that could be used to enhance effective transparency and/or verification in the medium to long-term. Building confidence in a broader multi-lateral engagement scenario adds even greater challenges than the traditional bi-lateral approaches. The multi-disciplinary group that attended included decision-makers needing to understand present and possible future technical capabilities, and the technical community needing clearer definition of possible requirements and operational constraints. In additional to traditional presentations, the group conducted an exercise to stimulate new perspectives on verification requirements for a scenario based on nuclear arms reductions at very low numbers of nuclear weapons. The workshop participants were divided into two groups and asked to explore the political and technical requirements needed for States to move towards significant arms reductions. Using a technique called 'back-casting' participants were asked to imagine a world without nuclear weapons and describe what would be needed to achieve levels of one thousand, one hundred, ten, and ultimately zero weapons in the world. Most participants agreed that a strong political commitment will be necessary and that complete disarmament will only be possible if states are convinced that nuclear weapons serve no purpose. Both groups believed that a time period of greater instability would be encountered when moving from 1000 to 100 nuclear weapons and that it would be imperative to accelerate quickly through this period. The group discussed the need to have an international body monitor the disarmament process to maintain legitimacy for the international community. One possibility could be the development of an intergovernmental panel on verification and disarmament to monitor and facilitate disarmament. The groups recognized the problem of fissile material disposition after

Sloan foundation nuclear education program

International Nuclear Information System (INIS)

Kursunoglu, B.N.

1992-01-01

The Alfred P. Sloan Foundation realized the time had come for a real and significant contribution to the enlightenment of university students concerning nuclear matters. The Sloan Foundation chose to educate the youth of four-year colleges and universities with a curriculum established with the resource information sieved from three workshops for professors in these institutions. The three workshops were organized by groups at Harvard-MIT (two-week Summer Program on Nuclear Weapons and Arms Control), the University of California, San Diego (two-week Summer Seminar on Global Security and Arms Control), and the University of Miami (one-week Winter Workshop on Enlightenment: The Best Security in a Nuclear-Armed World). In this report the author focuses on a unified presentation of the basic facts, aims, and results of the Sloan Foundation Nuclear Education Program based on three workshops directed by Jack Ruina (MIT), Herbert York (USCD), and Behram Kursunoglu (UM) and offered from 1983-1990

The continuing nuclear challenge

International Nuclear Information System (INIS)

Karp, R.C.

1991-01-01

This paper reports that Declining threat perceptions in the superpower relationship make the need for compellent threats less pressing and reduce demands upon the credibility of extended deterrence. Nuclear arms control and reductions can create survivable forces forestalling all but irrational incentives for a first strike. Conventional arms control can restructure national armies to such an extent that crises can be weathered without recourse to arms, thus reducing the risk of nuclear escalation. The post-cold war era presents an opportunity to make meaningful progress in these areas and should serve to remind states that their security may not need to be based on the threat to use nuclear weapons. States that place a high status value on nuclear weapons and those at the nuclear threshold may not agree with this assessment. But if co-operative security structures can be found and acted upon, the allure of nuclear status may also decline. And, with an improving US-Soviet relationship, regional security problems that have led states to acquire nuclear weapons may become more amenable to solution by joint diplomatic initiatives. None of these measures are easily achievable not are they likely to be undertaken in a concerted fashion. However, unlike in the past, the post-cold war environment makes these steps feasible

Fuzzy Logic and PID control of a 3 DOF Robotic Arm

Directory of Open Access Journals (Sweden)

Korhan Kayışlı

2017-12-01

Full Text Available The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively

The nuclear industry: a new weapon for the Kremlin?; L'industrie nucleaire: nouvelle arme du Kremlin?

Energy Technology Data Exchange (ETDEWEB)

Du Castel, V.

2010-07-01

After having noticed the recent evolution of the Russian policy which tends to concentrate the economical and political power with a limited democratic pluralism, the author describes the re-structuring policy adopted for the energy sector, and notably the nuclear sector, in order to become a major international actor. First, she analyses the evolution of the hydrocarbon sector with a better management of tax incomes, and a stronger control of the industries of this sector based on a State capitalism development. She outlines that Russia now uses energy as a diplomatic arm, particularly in its relationship with the European Union. She states that Russia may want to follow the same kind of policy for nuclear energy as for the hydrocarbon sector by developing partnership with other countries, by regrouping the concerned activities within a single holding company (Atomenergoprom) and a federal agency (Rosatom). Russia increased its uranium production and became a powerful actor who challenges other international companies (Areva, Westinghouse, Toshiba). The author discusses the strategy defined by the Kremlin to reach supremacy in the nuclear sector

Nuclear weapons industry

International Nuclear Information System (INIS)

Bertsch, K.A.; Shaw, L.S.

1984-01-01

This unique study was written specifically as a reference source for institutional investors concerned about the threat posed to their stock portfolios by the debate over nuclear arms production. The authors focus their analysis on the 26 leading companies in the field. The perspective is neutral and refreshing. Background information on strategic policy, arms control and disarmament, and the influence of the industry on defense policy and the economy is presented rationally. The study also discusses the economic significance of both the conversion from military to civilian production and nuclear freeze initiatives. An appendix contains a fact-filled guide to nuclear weapon systems

Nonproliferation issues. Hearings before the Subcommittee on Arms Control, International Organizations and Security Agreements of the Committee on Foreign Relations, United States Senate, Ninety-Fourth Congress, First and Second Sessions

International Nuclear Information System (INIS)

Anon.

1976-01-01

Twelve days of hearings were held over an 18-month period to discuss issues relating to the Nonproliferation Treaty and its effectiveness. Nuclear weapons are no longer confined to those nations with economic and technical capability, a fact which jeopardizes the security of all nations. Critics of the treaty felt that it was more the result of maneuvering than negotiation. The committee examined issues raised by the Vladivostok Accords, which limits the nuclear arms race, promotes detente, and allows progress in arms control. Witnesses responded to criticism that the Accords (1) did not limit a qualitative arms race, (2) allowed both sides to modernize all 2,400 permitted delivery vehicles, (3) did not equalize throw weight, and (4) allow extensive new deployment of MIRV's, especially in the Soviet Union. Witnesses representing government, universities, industry, and foreign countries considered the range of weapons, safeguards and control agreements, estimates of war damage, and the Treaty's intended benefits of security assurance and information exchange

Europe's nuclear superpowers

International Nuclear Information System (INIS)

Seignious, G.M. II; Yates, J.P.

1984-01-01

Both Great Britain and France are on the verge of nuclear buildups ambitious enough to turn either one into the world's third nuclear superpower. The authors note that the expansion of British and French arsenals will add greatly to the West's nuclear firepower, but on balance these forces will actually weaken Western security. The reason is that they will be deployed largely in potentially vulnerable and destabilizing modes. In addition, they will threaten the unity of the North Atlantic Treaty Organization (NATO) and the viability of the alliance's nuclear doctrine. Perhaps most important, these forces will almost certainly spark a counterbuild-up by the Soviets and fatally complicate the task of arms control. The authors feel, therefore, that the time to include British and French forces in nuclear arms talks is now - before the planned increase in their nuclear might takes place. London and Paris have authorized programs that can give them unprecedented influence with the superpowers and should use this opportunity to slow the arms race, not supercharge it

Disarmament and arms control in the policy of the two great powers

International Nuclear Information System (INIS)

Klein, J.

2010-01-01

This text was published in 1992. The author comments the results of the START agreement which specified a 30 per cent objective for strategic weapon reduction. He also comments the consequences and implication of the USSR splitting where some states possess nuclear arms and warheads, the cooperation for transportation, storage, security and destruction of chemical and nuclear weapons in USSR, and the perspectives of more ambitious disarmament propositions because of the USSR collapse and of the disappearance of its military threat on the USA

Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

Science.gov (United States)

Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

2016-01-01

Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology. PMID:27966546

Position Control Method For Pick And Place Robot Arm For Object Sorting System

Directory of Open Access Journals (Sweden)

Khin Moe Myint

2015-08-01

Full Text Available The more increase the number of industries in developing countries the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method the input parameters are the joint angles and link length of robot arm and then the output is the position at XYZ coordinate of tool or gripper. In inverse kinematic the input parameters are position at XYZ coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame without consideration of the forces or the moments causing the movements. For sorting system Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

Beyond integrated safeguards: Performance-based assessments for future nuclear controls

International Nuclear Information System (INIS)

Pilat, Joseph F.; Budlong Sylvester, Kory W.

2001-01-01

Full text: In the future, if the nuclear nonproliferation and arms control agendas are to advance, they will likely become increasingly seen as parallel undertakings with the objective of comprehensive cradle-to-grave controls over nuclear materials and possibly even warheads removed from defense programs along with materials in civilian use. This 'back to the future' prospect was envisioned in the Acheson-Lillienthal Report and the Baruch Plan, and more modestly in the Atoms-for-Peace Proposal. Unlike the grand plans of the early nuclear years, today's and tomorrow's undertakings will more likely consist of a series of incremental steps with the goal of expanding nuclear controls. These steps will be undertaken at a time of fundamental change in the IAEA safeguards system, and they will be influenced by those changes in profound ways. This prospective influence needs to be taken into account as the IAEA develops and implements integrated safeguards, including its efforts to establish new safeguards criteria, undertake technological and administrative improvements in safeguards, implement credible capabilities for the detection of undeclared nuclear facilities and activities and, perhaps, provide for a more intensive involvement in applying safeguards in new roles such as the verification of a Fissile Material Cutoff Treaty. Performance-based criteria offer one promising way to address the effectiveness of integrated safeguards and to provide a common means of assessing the other key areas of a comprehensive approach to nuclear controls as these develop independently and to the extent that they are coordinated in the future. (author)

Nuclear deterrence and diplomacy

International Nuclear Information System (INIS)

Singh, Jasjit; Sethi, Manpreet

2004-01-01

Nuclear diplomacy worldwide is in a state of flux. Nuclear deterrence is being overhauled to accommodate missile defence, and arms control is facing an unprecedented challenge. Treaties such as the nuclear non-proliferation treaty (NPT), comprehensive test ban treaty (CTBT), strategic arms reductions treaty (START), anti-ballistic missile (ABM) treaty, etc. that had attempted, however imperfectly, to place certain restrictions on the horizontal or vertical development of nuclear weapons, are facing a crisis of legitimacy as the present status of each is very distant from what was intended. This book explores the changes taking place in nuclear deterrence and diplomacy at the beginning of the 21st century, especially as they relate to India and its security

Nuclear rights - nuclear wrongs

Energy Technology Data Exchange (ETDEWEB)

Paul, E.F.; Miller, F.D.; Paul, J.; Ahrens, J.

1986-01-01

This book contains 11 selections. The titles are: Three Ways to Kill Innocent Bystanders: Some Conundrums Concerning the Morality of War; The International Defense of Liberty; Two Concepts of Deterrence; Nuclear Deterrence and Arms Control; Ethical Issues for the 1980s; The Moral Status of Nuclear Deterrent Threats; Optimal Deterrence; Morality and Paradoxical Deterrence; Immoral Risks: A Deontological Critique of Nuclear Deterrence; No War Without Dictatorship, No Peace Without Democracy: Foreign Policy as Domestic Politics; Marxism-Leninism and its Strategic Implications for the United States; Tocqueveille War.

Costs of disarmament - Rethinking the price tag: A methodological inquiry into the costs and benefits of arms control

International Nuclear Information System (INIS)

Willett, S.

2002-06-01

The growing number of arms control and disarmament treaties agreed on over the past decades as well as rising concerns about harmful environmental and public health effects of weapons disposal, have understandably led to an increase in the cost of implementing arms control agreements. As a result, the expenses associated with treaty compliance have emerged as a contentious issue within the realm of arms control and disarmament discussions. In particular, opponents of arms control and disarmament point to perceived rising costs of meeting current and proposed treaty obligations in an attempt to limit and undermine such activities. Yet determining just how much arms control and disarmament cost remains very much an ambiguous task. In Costs of Disarmament - Rethinking the Price Tag: A Methodological Inquiry into the Costs and Benefits of Arms Control, Susan Willett addresses the question of how the cost of arms control ought to be measured. Emphasizing the proper allocation of costs associated with arms control treaty implementation to the life cycle costs of weapon systems and their correct weighing against the benefits they procure in terms of averted arms races and increased international security, Willett argues for a revised methodology of costing arms control and disarmament that gives a more accurate - and significantly lower - estimate of the latter. Adopting such a revised methodology concludes the author, might dispel considerable misunderstanding and help point decisions over arms control and disarmament in the right direction

A Vibration Control Method for the Flexible Arm Based on Energy Migration

Directory of Open Access Journals (Sweden)

Yushu Bian

2015-01-01

Full Text Available A vibration control method based on energy migration is proposed to decrease vibration response of the flexible arm undergoing rigid motion. A type of vibration absorber is suggested and gives rise to the inertial coupling between the modes of the flexible arm and the absorber. By analyzing 1 : 2 internal resonance, it is proved that the internal resonance can be successfully created and the exchange of vibration energy is existent. Due to the inertial coupling, the damping enhancement effect is revealed. Via the inertial coupling, vibration energy of the flexible arm can be dissipated by not only the damping of the vibration absorber but also its own enhanced damping, thereby effectively decreasing vibration. Through numerical simulations and analyses, it is proven that this method is feasible in controlling nonlinear vibration of the flexible arm undergoing rigid motion.

Formalization of the Access Control on ARM-Android Platform with the B Method

Science.gov (United States)

Ren, Lu; Wang, Wei; Zhu, Xiaodong; Man, Yujia; Yin, Qing

2018-01-01

ARM-Android is a widespread mobile platform with multi-layer access control mechanisms, security-critical in the system. Many access control vulnerabilities still exist due to the course-grained policy and numerous engineering defects, which have been widely studied. However, few researches focus on the mechanism formalization, including the Android permission framework, kernel process management and hardware isolation. This paper first develops a comprehensive formal access control model on the ARM-Android platform using the B method, from the Android middleware to hardware layer. All the model specifications are type checked and proved to be well-defined, with 75%of proof obligations demonstrated automatically. The results show that the proposed B model is feasible to specify and verify access control schemes in the ARM-Android system, and capable of implementing a practical control module.

Regional dialogue and multilateral arms control efforts today

International Nuclear Information System (INIS)

Graham, T. Jr.

1994-01-01

The significance of arms control and non-proliferation tasks is stressed emphasising what has been done, and-more important-what must still be done. Although tangible developments at the regional level may seem at times to be slow in coming, it is important to remember that the United States-Soviet transition from voluntary declarations to detailed arms control agreements with intrusive verification regimes spanned the entire length of cold war. Given the instabilities afflicting these regions, establishing a regional dialogue is itself a confidence-building measure. The experience of the United States and the former Soviet Union amply demonstrates that mere existence of regular dialogue can reduce tension by providing a platform for communication among military and Government participants even when political crisis prevents diplomatic contacts at senior levels. The international community should be encouraged by the progress that has been made to date to address regional instabilities. Such steps are an integral part of the international effort, carried out both at the United Nations and elsewhere, to adopt acceptable levels of conventional military forces and to eliminate weapons of mass destruction. Given the instabilities afflicting these regions, establishing a regional dialogue is itself a confidence-building measure. World changes, while potentially dangerous and certainly challenging, offer the hope of replacing antagonism with cooperation, creating a progressively more democratic global environment, preventing proliferation, and dampening regional conflicts. Continuing to make effective use of the entire mix of arms control and confidence-building tools will help to realize these hopes

A Remote Controlled Robotic Arm That Reads Barcodes and Handles Products

Directory of Open Access Journals (Sweden)

Zhi-Ying Chen

2018-03-01

Full Text Available In this study, a 6-axis robotic arm, which was controlled by an embedded Raspberry Pi with onboard WiFi, was developed and fabricated. A mobile application (APP, designed for the purpose, was used to operate and monitor a robotic arm by means of a WiFi connection. A computer vision was used to read common one-dimensional barcode (EAN code for the handling and identification of products such as milk tea drinks, sodas and biscuits. The gripper on the end of the arm could sense the clamping force and allowed real-time control of the amount of force used to hold and handle the products. The packages were all made of different material and this control allowed them to be handled without danger of damage or deformation. The maximum handling torque used was ~1.08 Nm and the mechanical design allowed the force of the gripper to be uniformly applied to the sensor to ensure accurate measurement of the force.

Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

Science.gov (United States)

Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

2017-08-01

One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

From proliferation to arms race. Nuclear challenges in Asia

International Nuclear Information System (INIS)

Farghen, Morgane

2015-01-01

If there is a region in the world where the 21. Century will be defined, it is Asia. When the rise of powers meets with old rivalries, competition for regional leadership and pending territorial disputes, the risk of conflict resurfaces and the balance of powers shifts. With changes come new trends, and with new trends come new dynamics. The nuclear realm is one of those where the changes are the most significant, the future the most uncertain, and where ongoing evolutions warrant the most scrutiny. What are these evolutions' main characteristics and what are their consequences for security, deterrence, non-proliferation and disarmament? Five major trends are currently shaping the strategic landscape and one of them has the potential for global ramifications: the advent of a regional arms race. (author)

Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller

OpenAIRE

P. Wu; W. Wu

2012-01-01

Based on the stability request of robot’s moving on the ground, the motion planning of dual-arm mobile robot when moving on the ground is studied and the preview control system is applied in the robot walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system could be used in the generation of robot Center of Mass forward trajecto...

A nuclear-armed Iran: a difficult but not impossible policy problem - Lecture note

International Nuclear Information System (INIS)

Sitt, Bernard

2006-01-01

This lecture note makes an analysis of a report by Barry R. Posen from The Century Foundation (TCF) and entitled: 'A nuclear-armed Iran: a difficult but not impossible policy problem' (28 Dec 2006). In this report, the author believes that diplomacy would be the ideal outcome in handling the nuclear bomb situation in Iran, but containment and deterrence will be effective if diplomacy fails. He challenges the common fears that arise from Iran's potential possession of a bomb: The fear that Iran would use nuclear threats against nonnuclear neighbors; The fear that Iran would use nuclear weapons to annihilate the state of Israel. To ensure effective deterrence, the United States would need to pursue a strategy of coexistence with a nuclear Iran. In order to do so, the US would have to renew its commitment to the security of the Middle East; US involvement would be required to prevent regional proliferation and to ensure the protection of Iran's neighbors. The present Lecture note analyzes and discusses the 4 threats of a nuclear Iran that need to be dissuaded: a risky and more violent foreign policy; the blackmailing of some neighbor countries; the supply of nuclear weapons to non-state actors; and nuclear strikes against Israel despite inevitable retaliatory measures

Designing and evaluating conventional arms control measures: The case of the Korean peninsula

International Nuclear Information System (INIS)

Han Yongsup.

1991-01-01

As a method of designing and evaluating arms control measures, this study takes a combined approach of qualitative analysis and military simulation. Three qualitative criteria derived from the case studies on the Korean and European arms control are used to examine whether these measures are legally binding, verifiable, and negotiable. One quantifiable criterion is used to test against the base case scenario (a one-day surprise attach by North Korea) whether arms control measures will stabilize or destabilize the military status quo on the Peninsula in terms of North Korea's extent of penetration in the actual war situations. Four alternative measures are derived from the analysis: (1) Confidence and Security Building Measures (CSBMs); (2) Establishment of Asymmetric Non-Deployment Zone (NDZ); (3) Reduction of the joint US-South Korean 'Team Spirit' exercises and North Korea's Forward Deployed Forces; and, (4) Reduction of South Korean and US forces and North Korean Forces. Findings indicate that establishment of the NDZ and a North Korean unilateral reduction are estimated to best achieve the goal of South Korean arms control

Design a Fuzzy Logic Controller for a Rotary Flexible Joint Robotic Arm

Directory of Open Access Journals (Sweden)

Jalani Jamaludin

2018-01-01

Full Text Available The purpose of this research is to design a fuzzy logic feedback controller (FLC in order to control a desired tip angle position a rotary flexible joint robotic arm. The FLC is also employed to dampen the vibration emanated from a rotary flexible joint robotic arm when reaching a desired tip angle position. The performance of FLC is tested in simulation and experiment. It is found that the FLC is successfully designed, applied and tested. The results show that fuzzy logic controller performed satisfactorily control a desired tip angle position and reduce the oscillations.

An arms race is coming to the Asia-Pacific region

International Nuclear Information System (INIS)

Shu Yuan Hsieh

1997-01-01

After nearly half a century of the Cold War, the USA and Russia have finally come to carrying out their arms control agreements, drastically cutting their nuclear and conventional weapons as well as military personnel. One would imagine that the world would gradually cease to manufacture and sell weapons. The reality has seen quite the opposite. The Asia-Pacific region needs to establish urgently a forum for dialogue in security and cooperation negotiations in order to resolve peacefully outstanding territorial and political disputes. Certain arms control measures should be initiated by the Asia-Pacific nations, otherwise they will face the 21st century with the prospect of many military confrontations

Optimal arm posture control and tendon traction forces of a coupled tendon-driven manipulator

International Nuclear Information System (INIS)

Ma, Shugen

1997-01-01

In this study, the optimum arm posture of a coupled tendon-driven multijoint manipulator arm (or CT Arm) at maximum payload output was derived and the corresponding tendon traction forces were also analyzed, during management of a heavy payload by the manipulator in a gravity environment. The CT Arm is special tendon traction transmission mechanism in which a pair of tendons used to drive a joint is pulled from base actuators via pulleys mounted on the base-side joints. This mechanism enables optimal utilization of the coupled drive function of tendon traction forces and thus enables the lightweight manipulator to exhibit large payload capability. The properties of the CT Arm mechanism are elucidated by the proposed optimal posture control scheme. Computer simulation was also executed to verify the validity of the proposed control scheme. (author)

Nuclear proliferation and terrorism

International Nuclear Information System (INIS)

Anon.

1977-01-01

This section of the book, Part III, has two chapters (9 and 10). Chapter 9, Nuclear Power and Proliferation of Nuclear Weapons, is disucssed under these subjects: nuclear nonproliferation: origins and status; requirements for nuclear weapons manufacture; current nuclear programs and proliferation capabilities; encouraging decisions to forego weapons; arms control; safeguards; attitudes and expectations. Chapter 10, Nuclear Terrorism, discusses these areas: theft of nuclear materials; attacks on nuclear reactors; responding to nuclear terrorism; security and civil liberties

Reach and grasp by people with tetraplegia using a neurally controlled robotic arm

Science.gov (United States)

Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; Donoghue, John P.

2012-01-01

Paralysis following spinal cord injury (SCI), brainstem stroke, amyotrophic lateral sclerosis (ALS) and other disorders can disconnect the brain from the body, eliminating the ability to carry out volitional movements. A neural interface system (NIS)1–5 could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with longstanding tetraplegia can use an NIS to move and click a computer cursor and to control physical devices6–8. Able-bodied monkeys have used an NIS to control a robotic arm9, but it is unknown whether people with profound upper extremity paralysis or limb loss could use cortical neuronal ensemble signals to direct useful arm actions. Here, we demonstrate the ability of two people with long-standing tetraplegia to use NIS-based control of a robotic arm to perform three-dimensional reach and grasp movements. Participants controlled the arm over a broad space without explicit training, using signals decoded from a small, local population of motor cortex (MI) neurons recorded from a 96-channel microelectrode array. One of the study participants, implanted with the sensor five years earlier, also used a robotic arm to drink coffee from a bottle. While robotic reach and grasp actions were not as fast or accurate as those of an able-bodied person, our results demonstrate the feasibility for people with tetraplegia, years after CNS injury, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals. PMID:22596161

Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

Directory of Open Access Journals (Sweden)

Changan Jiang

2016-01-01

Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

The nuclear case book

International Nuclear Information System (INIS)

Stephenson, M.; Hearn, R.

1983-01-01

The subject is covered in sections, entitled: the truth about nukes; disarmament, arms control and arms limitation; directory of nuclear weapons; tables of principal nuclear weapons; points of view 1 (Anglican); proliferation of nuclear technology; the just war; preventing proliferation; the numbers business; war scenario 1 (the Gulf); points of view 2 (Roman Catholic); deterrence; European Nuclear Balance; war scenario 2 (Germany); arguing about war and peace; points of view 3 (Jewish); is there a Soviet military threat; the view from Omsk; points of view 4 (Pugwash); the British deterrent; points of view 5 (generals for peace and disarmament); 'broken arrows'; costs of nuclear weapons; war scenario 3 (Pakistan); nuclear weapons - what is the moral response; non-use of nuclear weapons; points of view 6 (women and families for defence); dear Mr. Heseltine; why acquire nuclear weapons; the effects of nuclear weapons; war scenario 4 (Central America and the Middle East); civil defence; alternatives to nuclear defence; points of view 7 (Quaker). (U.K.)

An Approach to Naval Arms Control

Science.gov (United States)

1989-07-01

commentary pro and con on the control of SLCM’s has 9 I: been uttered by people not known to be expert on maritime strategy and the roles of navies in crisis ... transcultural misunderstanding is indeed deep and widespread (e.g., witness the surprise on the part of America’s leading television pundits that China’s...force on behalf of (U.S definition of) international order in situations short of war; 0 alliance cohesion; 37 i * crisis , arms race, and political

CONTROL SYSTEM FOR UNMANNED AIRCRAFT EQUIPPED WITH ROBOTICS ARM

Directory of Open Access Journals (Sweden)

Alexei A. Margun

2014-11-01

Full Text Available The paper deals with the problem of control system synthesis for multi rotational UAV equipped with robotics arm. Control algorithm is proposed based on the method of feedback linearization and synthesis of proportional-differential controller with the real time computation of the inertia tensor and center of mass changes and compensation of the reactive torque generated by the dynamics of the manipulator. Quadrocopter with attached articulated manipulator is selected as a model of the control object. Systems of equations describing the behavior of considered dynamical system are obtained according to the Newton and Euler-Lagrange laws. Expressions are offered, defining the inertia tensor and the position of the system center of mass depending on the current position of the manipulator, and the torque acting on the quadrocopter from the manipulator. Feedback linearization with arm influence compensation on quadrocopter is applied for the resulting nonlinear coupled system. As a result, robot dynamics equations have been converted to a linear stationary system. Converted system control is achieved by a proportional-differential controller. Examined system simulation is done with control method described in the paper and the classical method based on a proportional-differential controller. Simulation results confirm the effectiveness of the proposed approach and demonstrate that the proposed approach provides higher accuracy of the tracking error, than control method by means of proportional-differential regulator.

An international cooperative verification agenda for arms reduction

International Nuclear Information System (INIS)

Hinderstein, C.

2013-01-01

The biggest challenge to the overall verification and monitoring agenda for future arms reductions may be that posed by uncertainties regarding the quantities of existing stocks of fissile material and nuclear weapons. We must develop strategies to reduce the residual uncertainties regarding completeness of initial declarations as all declared weapons-related inventories go to zero. Establishing this confidence in countries' initial baseline declarations will likely be a key point in all states' decisions to move to very low numbers, much less zero. The author reviews the questions and challenges that need to be addressed if there is to be significant progress in negotiating and implementing a verifiable fissile material cutoff treaty (FMCT) and a policy of nuclear weapon dismantling. In support of greater security as the world works towards the elimination of nuclear weapons, individual States could begin immediately by increasing the transparency of their nuclear activities. The International Verification Project is designed to bring experts from a wide array of related backgrounds together to build capacity for verification internationally in support of arms control goals (and in support of the larger objective of a world without nuclear weapons), build confidence between nuclear and non-nuclear-weapon states, promote freer flow of information among governments and between governments and non-governmental organizations (NGOs) and solve technical problems that could be barriers to progress. The paper is followed by the slides of the presentation. (A.C.)

The nuclear arms race

International Nuclear Information System (INIS)

Anon.

1982-01-01

During his visit to South Africa, dr. Edward Teller, one of the most outstanding nuclear physicists of the age, and intimately associated with American research during the most sensitive period in the development of nuclear energy, were interviewed. Dr. Teller was questioned on the following: his feelings about nuclear weapons; the American atomic bomb that was dropped on Japan; the Soviet Union's development of a hydrogen bomb and the nuclear balance between the Soviet Union and America

An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

Directory of Open Access Journals (Sweden)

A. Notué Kadjie

2017-01-01

Full Text Available The authors numerically investigate the dynamics and control of an electromechanical robot arm consisting of a pendulum coupled to an electrical circuit via an electromagnetic mechanism. The analysis of the dynamical behavior of the electromechanical device powered by a sinusoidal power source is carried out when the effects of the loads on the arm are neglected. It is found that the device exhibits period-n T oscillations and high amplitude oscillations when the electric current is at its smallest value. The specific case which considers the effects of the impulsive contact force caused by an external load mass pushed by the arm is also studied. It is found that the amplitude of the impulse force generates several behaviors such as jump of amplitude and distortions of the mechanical vibration and electrical signal. For more efficient functioning of the device, both piezoelectric and adaptive backstepping controls are applied on the system. It is found that the control strategies are able to mitigate the signal distortion and restore the dynamical behavior to its normal state or reduce the effects of perturbations such as a short time variation of one component or when the robot system is subject to noises.

Europe, arms control and American security

International Nuclear Information System (INIS)

Burns, W.F.

1992-01-01

What has come to be called the Revolution of 1989 has swept away longstanding political and economic arrangements in Eastern Europe. Perhaps more important, it has also called into question the fundamental underpinnings of European security created during the nonpeace that followed World War II. In June 1990, the Warsaw Treaty Organization abandoned the notion that NATO was the ideological enemy. At the same time, NATO ministers agreed at Tunberry, Scotland, to consider defining the Atlantic Alliance as more of a partner of the Soviet Union than as an enemy. The Washington summit of May 1990 between president Mikhail Gorbachev and president George Bush further highlighted the recent changes in the Soviet Union and its former satellites. Issues going to the heart of the viability of the Soviet Union and the communist system of political and economic organization competed with German reunification as central themes. Arms control issues, particularly as they pertain in European military stability, became contingent and dependent on the development of a broader political and economic framework for a new Europe. Whether this framework is viable remains an open question as Gorbachev's role is challenged more and more within the Soviet Union. This paper deals with European arms control issues from the point of view of the United States and its own security interests. The United States involved its security inextricably with that of Western Europe as a conscious decision in the turmoil following World War II

Manipulator arm for a nuclear reactor vessel inspection device

International Nuclear Information System (INIS)

1980-01-01

A manipulator arm for a reactor vessel in-service inspection apparatus is adapted to transport a transducer array for ultrasonic examination of welds at any point in the vessel. The removal of the inspection device from the reactor vessel in an emergency presents a problem where a relatively long manipulator arm is used. This invention provides an improved arm with means for changing the normal orientation of the arm to a shorter one to permit safe removal of the inspection device from the reactor vessel. (author)

Controlling robot arm with the mind

National Science Foundation

2017-05-31

Full Text Available Research test subjects at the University of Minnesota who were fitted with a specialized noninvasive brain cap were able to move a robotic arm just by imagining moving their own arms.

Passivity-Based Control of Rotational and Translational Timoshenko Arms

Directory of Open Access Journals (Sweden)

Minoru Sasaki

2012-01-01

Full Text Available It is shown that the alternate passivity-based control schemes can be designed which explicitly exploit the passivity properties of the Timoshenko model. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical results for the tracking control of a translational and rotational flexible Timoshenko arm are presented and compared. They verify that the proposed control schemes are effective at controlling flexible dynamical systems.

Unilateral versus bilateral robot-assisted rehabilitation on arm-trunk control and functions post stroke: a randomized controlled trial.

Science.gov (United States)

Wu, Ching-Yi; Yang, Chieh-Ling; Chen, Ming-de; Lin, Keh-Chung; Wu, Li-Ling

2013-04-12

Although the effects of robot-assisted arm training after stroke are promising, the relative effects of unilateral (URT) vs. bilateral (BRT) robot-assisted arm training remain uncertain. This study compared the effects of URT vs. BRT on upper extremity (UE) control, trunk compensation, and function in patients with chronic stroke. This was a single-blinded, randomized controlled trial. The intervention was implemented at 4 hospitals. Fifty-three patients with stroke were randomly assigned to URT, BRT, or control treatment (CT). Each group received UE training for 90 to 105 min/day, 5 days/week, for 4 weeks. The kinematic variables for arm motor control and trunk compensation included normalized movement time, normalized movement units, and the arm-trunk contribution slope in unilateral and bilateral tasks. Motor function and daily function were measured by the Wolf Motor Function Test (WMFT), Motor Activity Log (MAL), and ABILHAND Questionnaire. The BRT and CT groups elicited significantly larger slope values (i.e., less trunk compensation) at the start of bilateral reaching than the URT group. URT led to significantly better effects on WMFT-Time than BRT. Differences in arm control kinematics and performance on the MAL and ABILHAND among the 3 groups were not significant. BRT and URT resulted in differential improvements in specific UE/trunk performance in patients with stroke. BRT elicited larger benefits than URT on reducing compensatory trunk movements at the beginning of reaching. In contrast, URT produced better improvements in UE temporal efficiency. These relative effects on movement kinematics, however, did not translate into differential benefits in daily functions. ClinicalTrials.gov: NCT00917605.

Filtering sensory information with XCSF: improving learning robustness and robot arm control performance.

Science.gov (United States)

Kneissler, Jan; Stalph, Patrick O; Drugowitsch, Jan; Butz, Martin V

2014-01-01

It has been shown previously that the control of a robot arm can be efficiently learned using the XCSF learning classifier system, which is a nonlinear regression system based on evolutionary computation. So far, however, the predictive knowledge about how actual motor activity changes the state of the arm system has not been exploited. In this paper, we utilize the forward velocity kinematics knowledge of XCSF to alleviate the negative effect of noisy sensors for successful learning and control. We incorporate Kalman filtering for estimating successive arm positions, iteratively combining sensory readings with XCSF-based predictions of hand position changes over time. The filtered arm position is used to improve both trajectory planning and further learning of the forward velocity kinematics. We test the approach on a simulated kinematic robot arm model. The results show that the combination can improve learning and control performance significantly. However, it also shows that variance estimates of XCSF prediction may be underestimated, in which case self-delusional spiraling effects can hinder effective learning. Thus, we introduce a heuristic parameter, which can be motivated by theory, and which limits the influence of XCSF's predictions on its own further learning input. As a result, we obtain drastic improvements in noise tolerance, allowing the system to cope with more than 10 times higher noise levels.

A MYOELECTRIC PROSTHETIC ARM CONTROLLED BY A SENSOR-ACTUATOR LOOP

Directory of Open Access Journals (Sweden)

Patrik Kutílek

2014-06-01

Full Text Available This paper describes new methods and systems designed for application in upper extremity prostheses. An artificial upper limb with this system is a robot arm controlled by EMG signals and a set of sensors. The new multi-sensor system is based on ultrasonic sensors, infrared sensors, Hall-effect sensors, a CO2 sensor and a relative humidity sensor. The multi-sensor system is used to update a 3D map of objects in the robot’s environment, or it directly sends information about the environment to the control system of the myoelectric arm. Occupancy grid mapping is used to build a 3D map of the robot’s environment. The multi-sensor system can identify the distance of objects in 3D space, and the information from the system is used in a 3D map to identify potential collisions or a potentially dangerous environment, which could damage the prosthesis or the user. Information from the sensors and from the 3D map is evaluated using a fuzzy expert system. The control system of the myoelectric prosthetic arm can choose an adequate reaction on the basis of information from the fuzzy expert system. The systems and methods were designed and verified using MatLab/Simulink. They are aimed for use as assistive technology for disabled people.

JACoW A dual arms robotic platform control for navigation, inspection and telemanipulation

CERN Document Server

Di Castro, Mario; Ferre, Manuel; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

2018-01-01

High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system comm...

Fuzzy-Genetic Optimal Control for Four Degreeof Freedom Robotic Arm Movement

OpenAIRE

V. K. Banga; R. Kumar; Y. Singh

2009-01-01

In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuzzy logic and Genetic Algorithms. The development of a fuzzy genetic optimizatio...

Nuclear law. January 2011 - July 2012

International Nuclear Information System (INIS)

Bringuier, Pierre; Di Costanzo, Laura

2012-01-01

This paper gives a synthesis of legal aspects concerning nuclear power in France. The following main points are reviewed: institutional aspects (notably the independence of the Nuclear Safety Authority - ASN); transparency and public information; nuclear safety and radiation protection; nuclear materials, their control and security aspects; transports; trade and non-proliferation agreements; radioactive wastes; radiation accidents; liabilities and insurance; nuclear arms

Waging modern war: An analysis of the moral literature on the nuclear arms debate

International Nuclear Information System (INIS)

Palmer-Fernandez, G.F.

1992-01-01

The primary aim was to examine the dominant views on the subject of deterrence and the use of nuclear weapons, to compare them with each other, and to consider objections that have or might be made against them. A second, more controversial and substantive, aim was to show that nuclear weapons and war-fighting plans engender some disturbing moral dilemmas that call into question fundamental ways of thinking about morality and some of the common intuitions on the relation of intentions and actions. The author examines the moral literature, both religious and secular, on nuclear arms policy written between the early 1960s and the late 1980s. Three different schools of thought, or 'parties,' are identified. To establish the differences among these parties, the author shows the various ways in which judgments on the use of nuclear weapons and on deterrence are linked either by a prohibitive moral principle which draws a moral equivalence going from action to intention or by a factual assumption about the nature of nuclear weapons. He concludes with the suggestion that the dilemmas that arise in the moral evaluation of nuclear deterrence represent a profound and much wider problem in moral theory between the ideals of character and the moral claims of politics

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

Directory of Open Access Journals (Sweden)

Giovanni Gerardo Muscolo

2013-01-01

Full Text Available The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD closed-loop for the position control. The force control of the two systems is composed of an external proportional (P closed-loop for one system (P system and an external proportional-integrative (PI closed-loop for the other system (PI system. The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.

Content and structure of knowledge base used for virtual control of android arm motion in specified environment

Science.gov (United States)

Pritykin, F. N.; Nebritov, V. I.

2018-01-01

The paper presents the configuration of knowledge base necessary for intelligent control of android arm mechanism motion with different positions of certain forbidden regions taken into account. The present structure of the knowledge base characterizes the past experience of arm motion synthesis in the vector of velocities with due regard for the known obstacles. This structure also specifies its intrinsic properties. Knowledge base generation is based on the study of the arm mechanism instantaneous states implementations. Computational experiments connected with the virtual control of android arm motion with known forbidden regions using the developed knowledge base are introduced. Using the developed knowledge base to control virtually the arm motion reduces the time of test assignments calculation. The results of the research can be used in developing control systems of autonomous android robots in the known in advance environment.

On nonlinear dynamics and control of a robotic arm with chaos

Directory of Open Access Journals (Sweden)

Felix J. L. P.

2014-01-01

Full Text Available In this paper a robotic arm is modelled by a double pendulum excited in its base by a DC motor of limited power via crank mechanism and elastic connector. In the mathematical model, a chaotic motion was identified, for a wide range of parameters. Controlling of the chaotic behaviour of the system, were implemented using, two control techniques, the nonlinear saturation control (NSC and the optimal linear feedback control (OLFC. The actuator and sensor of the device are allowed in the pivot and joints of the double pendulum. The nonlinear saturation control (NSC is based in the order second differential equations and its action in the pivot/joint of the robotic arm is through of quadratic nonlinearities feedback signals. The optimal linear feedback control (OLFC involves the application of two control signals, a nonlinear feedforward control to maintain the controlled system to a desired periodic orbit, and control a feedback control to bring the trajectory of the system to the desired orbit. Simulation results, including of uncertainties show the feasibility of the both methods, for chaos control of the considered system.

The nuclear weapon; L'arme nucleaire

Energy Technology Data Exchange (ETDEWEB)

Tertrais, Bruno

2008-07-01

The author presents the technology, the concept of deterrence, the today means and the international control, concerning the nuclear weapon. The conclusion is pessimistic. The author sees only two issues: the substitution of a new weapon more powerful, or its use. (A.L.B.)

A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements.

Science.gov (United States)

Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

2017-02-01

Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  exoskeleton, successfully carried a ball to a goal in all 10 trials. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of daily actions.

A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements

Science.gov (United States)

Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

2017-02-01

Objective. Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Approach. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Main results. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  exoskeleton, successfully carried a ball to a goal in all 10 trials. Significance. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of daily actions.

Public Interests in the International Court of Justice—A Comparison Between Nuclear Arms Race and South West Africa

NARCIS (Netherlands)

Venzke, I.

2017-01-01

In the present essay I compare the 2016 judgment of the International Court of Justice (ICJ) in Nuclear Arms Race (Marshall Islands v. United Kingdom) with the Court's 1966 judgment in South West Africa (Ethiopia v. South Africa; Liberia v. South Africa). A series of similarities between the two

Research on ARM Numerical Control System

Science.gov (United States)

Wei, Xu; JiHong, Chen

Computerized Numerical Control (CNC) machine tools is the foundation of modern manufacturing systems, whose advanced digital technology is the key to solve the problem of sustainable development of machine tool manufacturing industry. The paper is to design CNC system embedded on ARM and indicates the hardware design and the software systems supported. On the hardware side: the driving chip of the motor control unit, as the core of components, is MCX314AL of DSP motion control which is developed by NOVA Electronics Co., Ltd. of Japan. It make convenient to control machine because of its excellent performance, simple interface, easy programming. On the Software side, the uC/OS-2 is selected as the embedded operating system of the open source, which makes a detailed breakdown of the modules of the CNC system. Those priorities are designed according to their actual requirements. The ways of communication between the module and the interrupt response are so different that it guarantees real-time property and reliability of the numerical control system. Therefore, it not only meets the requirements of the current social precision machining, but has good man-machine interface and network support to facilitate a variety of craftsmen use.

Arms Control and Disarmament, Volume 8, Number 2, Spring 1972. A Quarterly Bibliography with Abstracts and Annotations

Science.gov (United States)

Contents: Preface; The international political environment; The strategic environment; Institutions and means for the maintenance of peace; Arms control--general discussion; Arms control--specific problems and measures; Author index ; Subject index.

Department of Defense Authorization for appropriations for fiscal years 1988 and 1989. Hearings before the Committee on Armed Services, United States Senate, One Hundredth Congress, First Session on S. 1174, Part 4, Strategic Forces and Nuclear Deterrence

International Nuclear Information System (INIS)

Anon.

1987-01-01

Government, academic and military officials provided statements and documents in regard to S. 1174 authorizing appropriations for military activities of the Department of Defense and Department of Energy for defense activities. Strategic Forces and Nuclear deterrence categories include the following major topics: (1) Nuclear Testing Limitations, (2) Strategic Warning Capabilities and ICMB modernization, (3) Strategic Policy and Arms Control, and (4) Strategic Defense Initiatives

Dual arm master controller concept: consolidated fuel reprocessing program

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1984-04-01

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features result in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

The potential of laser cutting and snake arm robots in aspects of nuclear decommissioning

International Nuclear Information System (INIS)

Hilton, Paul; Khan, Ali

2013-01-01

This paper will describe recent work conducted in the UK to highlight the potential of applying high power laser cutting to aspects of decommissioning and dismantling in the nuclear sector. A major driver for this activity is size reduction of metallic structures, vessels and tubing, with the objective of efficient stacking of the cut parts for future long term storage. TWI have used a standard 5 kW multi-mode laser with fibre optic delivery of the beam, to demonstrate techniques for cutting stainless steel tubing, at diameters up to 150 mm and wall thicknesses up to 7 mm, and various thicknesses of plate materials. Using specially developed cutting heads, employing long focal length lenses to form the beam, techniques were developed to allow the cutting of tubes from one side only and without changing the focal position of the laser beam with respect to the diameter of the tube perpendicular to the incident beam. The latter means that remote programming of the cutting path becomes much simpler. For cutting plate materials, special gas nozzle dynamics have produced great tolerance of the cutting process to stand-off distance (the distance between the surface of the material being cut and the exit of the cutting nozzle). One particularly interesting method of remote deployment of these cutting techniques is to use 'snake arm' robots. These robots, by nature of their construction, can access areas un-accessible using other techniques. This of course makes them particularly suited to aspects of nuclear decommissioning, particularly in what are termed 'un-structured environments', where the exact disposition of items encountered is not known. The paper will also describe the first time a laser cutting head has been installed on the end of a snake arm robot and the combination used in a simulated nuclear cutting application. (author)

Octopuses use a human-like strategy to control precise point-to-point arm movements.

Science.gov (United States)

Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

2006-04-18

One of the key problems in motor control is mastering or reducing the number of degrees of freedom (DOFs) through coordination. This problem is especially prominent with hyper-redundant limbs such as the extremely flexible arm of the octopus. Several strategies for simplifying these control problems have been suggested for human point-to-point arm movements. Despite the evolutionary gap and morphological differences, humans and octopuses evolved similar strategies when fetching food to the mouth. To achieve this precise point-to-point-task, octopus arms generate a quasi-articulated structure based on three dynamic joints. A rotational movement around these joints brings the object to the mouth . Here, we describe a peripheral neural mechanism-two waves of muscle activation propagate toward each other, and their collision point sets the medial-joint location. This is a remarkably simple mechanism for adjusting the length of the segments according to where the object is grasped. Furthermore, similar to certain human arm movements, kinematic invariants were observed at the joint level rather than at the end-effector level, suggesting intrinsic control coordination. The evolutionary convergence to similar geometrical and kinematic features suggests that a kinematically constrained articulated limb controlled at the level of joint space is the optimal solution for precise point-to-point movements.

Nuclear disarmament and the elimination of nuclear dangers

International Nuclear Information System (INIS)

Daerr, Hans-Joachim

2002-01-01

... today's threats to security and stability have become less predictable and require at the same time a joint response. They illustrate the need for a new international order organized around shared values, common norms of behaviour and the rule of law. Disarmament, arms control, and non-proliferation are indispensable elements of this cooperative international order... We have to make sure that the functions that are today attributed to nuclear weapons become dispensable ... Nuclear disarmament is the counterpart of the renunciation of nuclear weapons by non-nuclear-weapons states. This bargain must not be undermined ... The NPT is no licence to perpetuate the status of the nuclear 'haves' versus the nuclear 'have nots.' (author)

Nuclear safeguards and security in a changing world

International Nuclear Information System (INIS)

Badolato, E.V.

1986-01-01

Two major crises of 1986 - the Chernobyl nuclear accident and international terrorism have had the effect of making what everyone does even more critically important for U.S. national security and for the security of the world. Chernobyl can be a starting point for efforts to make nuclear power systems safer and more benign. It also poses very basic questions for nuclear arms control activities. A fundamental objective of the Administration's arms control policy is to achieve substantial and equitable reductions in U.S. and Soviet nuclear forces with effective verification. However, Chernobyl served to remind the U.S. once again of the obsessive secretiveness of the Soviet Union and the difficulties of obtaining information on Soviet nuclear weapon activities. All of this points to the importance of developing improved monitoring technologies and obtaining Soviet agreement on on-site inspection. Nuclear safeguards and security developments in response to a changing world are the topic of discussion in this paper

Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

Directory of Open Access Journals (Sweden)

Hong Zeng

2017-10-01

Full Text Available Brain-machine interface (BMI can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback over the open-loop system (with visual inspection only have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes.

Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

Science.gov (United States)

Zeng, Hong; Wang, Yanxin; Wu, Changcheng; Song, Aiguo; Liu, Jia; Ji, Peng; Xu, Baoguo; Zhu, Lifeng; Li, Huijun; Wen, Pengcheng

2017-01-01

Brain-machine interface (BMI) can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR) guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG) signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback) over the open-loop system (with visual inspection only) have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes. PMID:29163123

Nuclear proliferation and terrorism in the post-9/11 world

CERN Document Server

Hafemeister, David

2016-01-01

This book fills a clear gap in the literature for a technically-focused book covering nuclear proliferation and related issues post-9/11. Using a concept-led approach which serves a broad readership, it provides detailed overview of nuclear weapons, nuclear proliferation and international nuclear policy. The author addresses topics including offensive and defensive missile systems, command and control, verification, weapon effects, and nuclear testing. A chronology of nuclear arms is presented including detailed discussion of the Cold War, proliferation, and arms control treaties. The book is tailored to courses on nuclear proliferation, and the general reader will also find it a fascinating introduction to the science and strategy behind international nuclear policy in the modern era. “Finally, a spritely, accessible overview of the nuclear world in historical context from someone who has both seen it from the U.S. State Department and Congressional policy trenches and taught it for 43 years. A gift to bot...

Nuclear non-proliferation and arms control: Are we making progress? 7 November 2005, Washington, DC, Carnegie International Non-Proliferation Conference

International Nuclear Information System (INIS)

ElBaradei, M.

2005-01-01

In recent years, four developments have radically altered the security landscape - the emergence of clandestine nuclear supply networks, the spread of nuclear fuel cycle technology, the efforts by more countries to acquire nuclear weapons, and the declared ambition of terrorists to acquire and use weapons of mass destruction. Four 'yardsticks' are proposed against which to gauge the IAEA's recent performance and to set future goals: (1) the effectiveness of nuclear verification; (2) the control of sensitive nuclear technology; (3) the protection of nuclear material; and (4) compliance with commitments. The effectiveness of nuclear verification depends on the extend of access to information and locations in a given country and inspections can only verify what countries declare. The expanded access provided by the Additional Protocol to safeguards agreements enables the Agency to verify possible undeclared activities however both safeguards agreements are focused on nuclear material and therefore the Agency's authority to investigate possible parallel weaponization activity is limited. In addition only 70 countries have the additional protocol on force. A dditional transparency measures' may be required. The IAEA is exploring innovative technologies (such as noble gas sampling) for detecting undeclared nuclear facilities and activities. The Agency has yet to establish a mechanism under which states systematically share information with the IAEA on the export of sensitive nuclear material and certain technology. The control of sensitive nuclear technology focuses on the control over activities that involve uranium enrichment and plutonium separation. A group of international experts proposes to 1) provide assurance of supply of reactor technology and nuclear fuel; 2) accept a time-limited moratorium (of perhaps 5-10 years) on new uranium enrichment and plutonium separation facilities - at the very least for countries that do not currently have such technologies; 3

A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups.

Science.gov (United States)

Lilly, John H; Quesada, Peter M

2004-09-01

Multiple-input sliding-mode techniques are applied to a planar arm actuated by four groups of pneumatic muscle (PM) actuators in opposing pair configuration. The control objective is end-effector tracking of a desired path in Cartesian space. The inputs to the system are commanded input pressure differentials for the two opposing PM groups. An existing model for the muscle is incorporated into the arm equations of motion to arrive at a two-input, two-output nonlinear model of the planar arm that is affine in the input and, therefore, suitable for sliding-mode techniques. Relationships between static input pressures are derived for suitable arm behavior in the absence of a control signal. Simulation studies are reported.

Self-Tuning Vibration Control of a Rotational Flexible Timoshenko Arm Using Neural Networks

Directory of Open Access Journals (Sweden)

Minoru Sasaki

2012-01-01

Full Text Available A self-tuning vibration control of a rotational flexible arm using neural networks is presented. To the self-tuning control system, the control scheme consists of gain tuning neural networks and a variable-gain feedback controller. The neural networks are trained so as to make the root moment zero. In the process, the neural networks learn the optimal gain of the feedback controller. The feedback controller is designed based on Lyapunov's direct method. The feedback control of the vibration of the flexible system is derived by considering the time rate of change of the total energy of the system. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical and experimental results for the vibration control of a rotational flexible arm are discussed. It verifies that the proposed control system is effective at controlling flexible dynamical systems.

37. annual meeting of the Institute of Nuclear Materials Management

International Nuclear Information System (INIS)

Anon.

1996-01-01

The following subjects were covered in this meeting: waste management; nuclear materials management -- safety and health; international safeguards; measurement control and statistics for nuclear materials management; material control and accountability; packaging and transportation; nonproliferation and arms control; and physical protection. Separate papers were prepared for 74 items of this meeting

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

Real-time statistical quality control and ARM

International Nuclear Information System (INIS)

Blough, D.K.

1992-05-01

An important component of the Atmospheric Radiation Measurement (ARM) Program is real-time quality control of data obtained from meteorological instruments. It is the goal of the ARM program to enhance the predictive capabilities of global circulation models by incorporating in them more detailed information on the radiative characteristics of the earth's atmosphere. To this end, a number of Cloud and Radiation Testbeds (CART's) will be built at various locations worldwide. Each CART will consist of an array of instruments designed to collect radiative data. The large amount of data obtained from these instruments necessitates real-time processing in order to flag outliers and possible instrument malfunction. The Bayesian dynamic linear model (DLM) proves to be an effective way of monitoring the time series data which each instrument generates. It provides a flexible yet powerful approach to detecting in real-time sudden shifts in a non-stationary multivariate time series. An application of these techniques to data arising from a remote sensing instrument to be used in the CART is provided. Using real data from a wind profiler, the ability of the DLM to detect outliers is studied. 5 refs

Trends in International Persuasion: Persuasion in the Arms Control Negotiations.

Science.gov (United States)

Hopmann, P. Terrence; Walcott, Charles

An analysis of the bargaining process in international arms control negotiations is possible by developing a framework of interrelated hypotheses, by delineating and practicing interactions study called "Bargaining Process Analysis," and by formulating procedural steps that bridge the gap between laboratory studies and "real world" situations. In…

Technical cooperation on nuclear security between the United States and China : review of the past and opportunities for the future.

Energy Technology Data Exchange (ETDEWEB)

Pregenzer, Arian Leigh

2011-12-01

The United States and China are committed to cooperation to address the challenges of the next century. Technical cooperation, building on a long tradition of technical exchange between the two countries, can play an important role. This paper focuses on technical cooperation between the United States and China in the areas of nonproliferation, arms control and other nuclear security topics. It reviews cooperation during the 1990s on nonproliferation and arms control under the U.S.-China Arms Control Exchange, discusses examples of ongoing activities under the Peaceful Uses of Technology Agreement to enhance security of nuclear and radiological material, and suggests opportunities for expanding technical cooperation between the defense nuclear laboratories of both countries to address a broader range of nuclear security topics.

Model-based sensorimotor integration for multi-joint control: development of a virtual arm model.

Science.gov (United States)

Song, D; Lan, N; Loeb, G E; Gordon, J

2008-06-01

An integrated, sensorimotor virtual arm (VA) model has been developed and validated for simulation studies of control of human arm movements. Realistic anatomical features of shoulder, elbow and forearm joints were captured with a graphic modeling environment, SIMM. The model included 15 musculotendon elements acting at the shoulder, elbow and forearm. Muscle actions on joints were evaluated by SIMM generated moment arms that were matched to experimentally measured profiles. The Virtual Muscle (VM) model contained appropriate admixture of slow and fast twitch fibers with realistic physiological properties for force production. A realistic spindle model was embedded in each VM with inputs of fascicle length, gamma static (gamma(stat)) and dynamic (gamma(dyn)) controls and outputs of primary (I(a)) and secondary (II) afferents. A piecewise linear model of Golgi Tendon Organ (GTO) represented the ensemble sampling (I(b)) of the total muscle force at the tendon. All model components were integrated into a Simulink block using a special software tool. The complete VA model was validated with open-loop simulation at discrete hand positions within the full range of alpha and gamma drives to extrafusal and intrafusal muscle fibers. The model behaviors were consistent with a wide variety of physiological phenomena. Spindle afferents were effectively modulated by fusimotor drives and hand positions of the arm. These simulations validated the VA model as a computational tool for studying arm movement control. The VA model is available to researchers at website http://pt.usc.edu/cel .

Nuclear export controls

International Nuclear Information System (INIS)

Thorne, C.E.

1999-01-01

One approach to describing the multilateral nuclear export controls is to do it according to time. This led to an interesting discovery, i.e. multilateral export controls have been defined by four distinct periods, the forst two of abut five years each, the second two about twice as long. These time periods have another interesting property. The two suppliers groups, which we will discuss in detail, have alternated in dominance over nearly thirty years. After describing the historical developments, the status of the present situation in multilateral nuclear export controls is examined, with the strengths and weaknesses. The future of multilateral nuclear export controls and possible ways that might be taken are considered

Nuclear material control systems for nuclear power plants

International Nuclear Information System (INIS)

1975-06-01

Paragraph 70.51(c) of 10 CFR Part 70 requires each licensee who is authorized to possess at any one time special nuclear material in a quantity exceeding one effective kilogram to establish, maintain, and follow written material control and accounting procedures that are sufficient to enable the licensee to account for the special nuclear material in his possession under license. While other paragraphs and sections of Part 70 provide specific requirements for nuclear material control systems for fuel cycle plants, such detailed requirements are not included for nuclear power reactors. This guide identifies elements acceptable to the NRC staff for a nuclear material control system for nuclear power reactors. (U.S.)

Worldwide Report, Arms Control.

Science.gov (United States)

1986-02-04

8217Unpredictable Consequences’ of SDI (Moscow PRAVDA, 7 Dec 85) 22 Moscow TV on ASTEC Meeting, Military Monopolies, SDI (Tomas Kolesnichenko; Moscow...planet. /8309 CSO: 5200/1228 22 JPRS-TAO86*014 4 February 1986 SDI AND SPACE ARMS MOSCOW TV ON ASTEC MEETING, MILITARY MONOPOLIES, SDI

State Control over Private Military and Security Companies in Armed ...

African Journals Online (AJOL)

NWUuser

State Control over Private Military and Security Companies in Armed Conflict by H Tonkin ... (US) in the Iraqi theatre by 2007 exceeded the number of US troops, and in 2010 .... due diligence to promote PMSC compliance therewith. ... relying on existing accountability frameworks of international law, new domestic and.

ARMS CONTROL: U.S. Efforts to Control the Transfer of Nuclear-Capable Missile Technology

National Research Council Canada - National Science Library

Plunkett, R

1990-01-01

...). Through the MTCR, the United States and seven of its allies are attempting to limit the availability of certain systems, equipment, and technologies necessary for developing nuclear-capable missiles...

SpaceWire- Based Control System Architecture for the Lightweight Advanced Robotic Arm Demonstrator [LARAD

Science.gov (United States)

Rucinski, Marek; Coates, Adam; Montano, Giuseppe; Allouis, Elie; Jameux, David

2015-09-01

The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Ltd under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. The control system architecture includes the on-board computer, control software and firmware, and the communication infrastructure (e.g. data links, switches) connecting on-board computer(s), sensors, actuators and the end-effector. The purpose of the control system is to operate the arm according to pre-defined performance requirements, monitoring its behaviour in real-time and performing safing/recovery actions in case of faults. This paper reports on the results of a recent study about the feasibility of the development and integration of a novel control system architecture for LARAD fully based on the SpaceWire protocol. The current control system architecture is based on the combination of two communication protocols, Ethernet and CAN. The new SpaceWire-based control system will allow for improved monitoring and telecommanding performance thanks to higher communication data rate, allowing for the adoption of advanced control schemes, potentially based on multiple vision sensors, and for the handling of sophisticated end-effectors that require fine control, such as science payloads or robotic hands.

ARM-based control system for terry rapier loom

Science.gov (United States)

Shi, Weimin; Gu, Yeqing; Wu, Zhenyu; Wang, Fan

2007-12-01

In this paper, a novel ARM-based mechatronics control technique applied in terry rapier loom was presented. Electronic weft selection, electronic fluff, electronic let-off and take-up motions system, which consists of position and speedcontrolled servomechanisms, were studied. The control system configuration, operation principle, and mathematical models of electronic drives system were analyzed. The synchronism among all mechanical motions and an improved intelligent control algorithm for the warp let-off tension control was discussed. The result indict that, by applying electronic and embedded control techniques and the individual servomechanisms, the electronic weft selection, electronic let-off device and electronic take-up device in HGA732T terry rapier loom have greatly simplified the initial complicated mechanism, kept the warp tension constant from full to empty beam, set the variable weft density, eliminated the start mark effectively, promoted its flexibility, reliability and properties, and improved the fabric quality.

Worldwide Report, Arms Control

Science.gov (United States)

1986-02-28

NACHRICHTEN , 18 Oct 85) 39 Presummit Polish Reporting on SDI Issues (Warsaw RZECZPOSPOLITA, 19-20 Oct 85; Warsaw ZYCIE WARSZAWY, 15 Oct 85) 42...28 February 1986 SDI AND SPACE ARMS MEETING REVEALS SOME SUPPORT FOR EUREKA LINK TO MILITARY Puesseldbrf VDI NACHRICHTEN in German 18 Oct 85 p 10

Nuclear proliferation: prospects, problems, and proposals

International Nuclear Information System (INIS)

Anon.

1977-01-01

This issue of the ANNALS addresses itself to three aspects of nuclear proliferation: the prospect that new nuclear powers will come on the scene, the problems that their arrival may create, and ways of coping with those problems. In an introductory paper, ''Quo Vadimus,'' Joseph I. Coffey investigates the pros and cons of proliferation, concluding that it is not a question of whether there will be nuclear proliferation, but in what countries. Part I, Where We Are, contains five papers preceded by introductory comments by Joseph I. Coffey. The papers and their authors are: Why States Go--and Don't Go--Nuclear, William Epstein; How States Can ''Go Nuclear,'' Frank C. Barnaby; What Happens If. . .Terrorists, Revolutionaries, and Nuclear Weapons, David Kreiger; Safeguards Against Diversion of Nuclear Material: An Overview, Ryukichi Imai; and Reducing the Incentives to Proliferation, George H. Quester. Part II, And Where We May Go, again includes some introductory remarks by Joseph I. Coffey. The seven succeeding papers are: Nth Powers of the Future, Ashok Kapur; Nuclear Proliferation and World Politics, Lewis A. Dunn; Arms Control in a Nuclear Armed World, Colin Gray; The United Nations, the Superpowers, and Proliferation, Abraham Bargman; Proliferation and the Future: Destruction or Transformation, Frederick C. Thayer; Decision Making in a Nuclear Armed World, Michael Brenner; and The United States in a World of Nuclear Powers, Michael Nacht. This special report is concluded with a glossary

Optimization of Casting Design Parameters on Fabrication of Reliable Semi-Solid Aluminum Suspension Control Arm

Science.gov (United States)

Ragab, Kh. A.; Bouaicha, A.; Bouazara, M.

2017-09-01

The semi-solid casting process has the advantage of providing reliable mechanical aluminum parts that work continuously in dynamic as control arm of the suspension system in automotive vehicles. The quality performance of dynamic control arm is related to casting mold and gating system designs that affect the fluidity of semi-solid metal during filling the mold. Therefore, this study focuses on improvement in mechanical performance, depending on material characterization, and casting design optimization, of suspension control arms made of A357 aluminum semi-solid alloys. Mechanical and design analyses, applied on the suspension arm, showed the occurrence of mechanical failures at unexpected weak points. Metallurgical analysis showed that the main reason lies in the difficult flow of semi-solid paste through the thin thicknesses of a complex geometry. A design modification procedure is applied to the geometry of the suspension arm to avoid this problem and to improve its quality performance. The design modification of parts was carried out by using SolidWorks design software, evaluation of constraints with ABAQUS, and simulation of flow with ProCast software. The proposed designs showed that the modified suspension arm, without ribs and with a central canvas designed as Z, is considered as a perfect casting design showing an increase in the structural strength of the component. In this case, maximum von Mises stress is 199 MPa that is below the yield strength of the material. The modified casting mold design shows a high uniformity and minim turbulence of molten metal flow during semi-solid casting process.

Understanding the conventional arms trade

Science.gov (United States)

Stohl, Rachel

2017-11-01

The global conventional arms trade is worth tens of billions of dollars every year and is engaged in by every country in the world. Yet, it is often difficult to control the legal trade in conventional arms and there is a thriving illicit market, willing to arm unscrupulous regimes and nefarious non-state actors. This chapter examines the international conventional arms trade, the range of tools that have been used to control it, and challenges to these international regimes.

Multi-muscle FES force control of the human arm for arbitrary goals.

Science.gov (United States)

Schearer, Eric M; Liao, Yu-Wei; Perreault, Eric J; Tresch, Matthew C; Memberg, William D; Kirsch, Robert F; Lynch, Kevin M

2014-05-01

We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject's hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.

Democracy, public opinion, and nuclear weapons

International Nuclear Information System (INIS)

Russett, B.

1989-01-01

To the degree that people's fears of nuclear war are deep and pervasive, they become subject to manipulation by cynical or politically utopian promises, whether those promises be to abolish nuclear weapons from the earth or to create a leakproof peace shield (SDI). But the basic yearning for protection could also be mobilized to support serious arms reduction and arms control agreements. Nuclear weapons provide the basis for a vivid form of symbolic politics, perhaps equivalent in foreign policy considerations to the Korean and Vietnam wars during their durations, and in similar ways (although not necessarily as severe) as unemployment does among domestic policy issues. This paper presents survey research directed specifically at the role of public opinion on nuclear imagery (difference between expectation of nuclear war versus any kind of weapon war; willingness to spend on nuclear weapons versus conventional ones or general defense spending) can help in understanding these phenomena

Conventional armed forces in Europe: Technology scenario development

Energy Technology Data Exchange (ETDEWEB)

Houser, G.M.

1990-07-01

In January 1986, the Soviet Union's Mikhail Gorbachev proposed elimination of all nuclear weapons by the year 2000. In April of that year, Mr. Gorbachev proposed substantial reductions of conventional weapons in Europe, from the Atlantic Ocean to the Ural Mountains, including reductions in operational-tactical nuclear weapons. In May 1986, the North Atlantic Treaty Organization (NATO) responded with the Brussels Declaration on Conventional Arms Control,'' which indicated readiness to open East/West discussions on establishing a mandate for negotiating conventional arms control throughout Europe. The Group of 23,'' which met in Vienna beginning in February 1987, concluded the meeting in January 1989 with a mandate for the Conventional Armed Forced in Europe (CFE) negotiations. On 6 March 1989, CFE talks began, and these talks have continued through six rounds (as of April 1990). Although US President George Bush, on 30 May 1989, called for agreement within six months to a year, and the Malta meeting of December 1989 called for completion of a CFE agreement by the end of 1990, much remains to be negotiated. This report provides three types of information. First, treaty provisions brought to the table by both sides are compared. Second, on the basis of these provisions, problem areas for each of the provision elements are postulated and possible scenarios for resolving these problem areas are developed. Third, the scenarios are used as requirements for tasks assigned program elements for possible US implementation of a CFE treaty. As progress is achieved during the negotiations, this report could be updated, as necessary, in each of the areas to provide a continuing systematic basis for program implementation and technology development. 8 refs.

Quality control in nuclear medicine

International Nuclear Information System (INIS)

Leme, P.R.

1983-01-01

The following topics are discussed: objectives of the quality control in nuclear medicine; the necessity of the quality control in nuclear medicine; guidelines and recommendations. An appendix is given concerning the guidelines for the quality control and instrumentation in nuclear medicine. (M.A.) [pt

Position Based Visual Servoing control of a Wheelchair Mounter Robotic Arm using Parallel Tracking and Mapping of task objects

Directory of Open Access Journals (Sweden)

Alessandro Palla

2017-05-01

Full Text Available In the last few years power wheelchairs have been becoming the only device able to provide autonomy and independence to people with motor skill impairments. In particular, many power wheelchairs feature robotic arms for gesture emulation, like the interaction with objects. However, complex robotic arms often require a joystic to be controlled; this feature make the arm hard to be controlled by impaired users. Paradoxically, if the user were able to proficiently control such devices, he would not need them. For that reason, this paper presents a highly autonomous robotic arm, designed in order to minimize the effort necessary for the control of the arm. In order to do that, the arm feature an easy to use human - machine interface and is controlled by Computer Vison algorithm, implementing a Position Based Visual Servoing (PBVS control. It was realized by extracting features by the camera and fusing them with the distance from the target, obtained by a proximity sensor. The Parallel Tracking and Mapping (PTAM algorithm was used to find the 3D position of the task object in the camera reference system. The visual servoing algorithm was implemented in an embedded platform, in real time. Each part of the control loop was developed in Robotic Operative System (ROS Environment, which allows to implement the previous algorithms as different nodes. Theoretical analysis, simulations and in system measurements proved the effectiveness of the proposed solution.

Light Duty Utility Arm interface control document plan

Energy Technology Data Exchange (ETDEWEB)

Engstrom, J.W.

1994-12-27

This document describes the interface control documents that will be used to identify and control interface features throughout all phases of the Light Duty Utility Arm (LDUA) development and design. After the system is built, delivered and installed in the Cold Test Facility and later at the tank farm, the Interface Control Documents can be used in maintaining the configuration control process. The Interface Control Document will consist of Interface Control Drawings and a data base directly tied to the Interface Control Drawings. The data base can be used as an index to conveniently find interface information. Design drawings and other text documents that contain interface information will appear in the database. The Interface Control Drawings will be used to document and control the data and information that define the interface boundaries between systems, subsystems and equipment. Also, the interface boundaries will define the areas of responsibility for systems and subsystems. The drawing will delineate and identify all the physical and functional interfaces that required coordination to establish and maintain compatibility between the co-functioning equipment, computer software, and the tank farm facilities. An appendix contains the Engineering interface control database system riser manual.

Light Duty Utility Arm interface control document plan

International Nuclear Information System (INIS)

Engstrom, J.W.

1994-01-01

This document describes the interface control documents that will be used to identify and control interface features throughout all phases of the Light Duty Utility Arm (LDUA) development and design. After the system is built, delivered and installed in the Cold Test Facility and later at the tank farm, the Interface Control Documents can be used in maintaining the configuration control process. The Interface Control Document will consist of Interface Control Drawings and a data base directly tied to the Interface Control Drawings. The data base can be used as an index to conveniently find interface information. Design drawings and other text documents that contain interface information will appear in the database. The Interface Control Drawings will be used to document and control the data and information that define the interface boundaries between systems, subsystems and equipment. Also, the interface boundaries will define the areas of responsibility for systems and subsystems. The drawing will delineate and identify all the physical and functional interfaces that required coordination to establish and maintain compatibility between the co-functioning equipment, computer software, and the tank farm facilities. An appendix contains the Engineering interface control database system riser manual

Russian's nuclear gambit

International Nuclear Information System (INIS)

Rostow, E.V.

1984-01-01

The Soviet strategy is to use arms control agreements to neutralize Western Europe by separating it from the US by building political pressure to allow the Soviets to have nuclear superiority. Rostow believes that an adequate nuclear deterrent and a solid alliance system can withstand the pressure of the Soviet arms buildup and propaganda without succumbing to defeatist view. Soviet-American equality is the basic issue in the I.N.F. and START talks. It is essential to counter the Soviet position that the British, French, and Chinese weapons must be included even though they are not significant to the Soviet Union. Criticism of the Reagan administration's ''hard line'' on this matter plays into Soviet hands. Reagan's greatest contribution may come if he resists the temptation to compromise for political gain

Nuclear exports. Parliamentary control and confidentiality; Parlamentarische Kontrolle und Geheimhaltungsbeduerftigkeit bei Nuklearexporten. Zum Urteil des Bundesverfassungsgerichts vom 21. Oktober 2014

Energy Technology Data Exchange (ETDEWEB)

Feldmann, Ulrike

2015-03-15

With its decision taken on 21. October 2014 (Az.: 2 BvE 5/11) the Federal Constitutional Court (BVerfG) decided during court proceedings between administrative bodies on the scope and limits of the parliamentary right of information. Even though the proceeding did not deal with nuclear exports but arm exports, foreign trade law, however, does not only designate an export licence obligation for military weapons but also for so called dual-use goods meaning goods, which can be used both for friendly as well as for military purposes. The export of these goods requires according to the so-called Dual-Use Regulation (EG) 428/2009 a licence. Annex I category 0 of the regulation (EG) 428/2009 lists a variety of nuclear materials, plants and equipment items for which this licence applies. In the same manner as arm exports, also exports of nuclear dual-use goods are being discussed in a special cabinet committee, the Federal Security Council (BSR), which shall coordinate cross-departmentally the German security and defence policy under consideration of economic interests and which categorises its results, according to the rules of procedure, as confidential. Also legally not regulated but common ''preliminary enquiries'' at the responsible Federal Ministry or rather Federal Office of Economics and Export Control by companies which plan an export and want to affirm the general approval for their export business prior to conclusion of contract take not only place for arm exports but also for nuclear dual-use goods. The decision by the Federal Constitutional Court can be applied to consultations about the authorisation of nuclear dual-use goods.

Failure of Arm Movement Control in Stroke Patients, Characterized by Loss of Complexity.

Science.gov (United States)

Goh, Segun; Han, Kyungreem; Ryu, Jehkwang; Kim, Seonjin; Choi, MooYoung

2015-01-01

We study the mechanism of human arm-posture control by means of nonlinear dynamics and quantitative time series analysis methods. Utilizing linear and nonlinear measures in combination, we find that pathological tremors emerge in patient dynamics and serve as a main feature discriminating between normal and patient groups. The deterministic structure accompanied with loss of complexity inherent in the tremor dynamics is also revealed. To probe the underlying mechanism of the arm-posture dynamics, we further analyze the coupling patterns between joints and components, and discuss their roles in breaking of the organization structure. As a result, we elucidate the mechanisms in the arm-posture dynamics of normal subjects responding to the gravitational force and for the reduction of the dynamic degrees of freedom in the patient dynamics. This study provides an integrated framework for the origin of the loss of complexity in the dynamics of patients as well as the coupling structure in the arm-posture dynamics.

Preventing nuclear terrorism: the report and papers of the International Task Force on Prevention of Nuclear Terrorism

International Nuclear Information System (INIS)

Leventhal, P.; Alexander, Y.

1987-01-01

The International Task Force on Prevention of Nuclear Terrorism, formed in 1985 under the Nuclear Control Institute, commissioned 26 studies and produced an extensive report on the problem and prevention of nuclear terrorism, Part I of this book is the full report, and part II contains the individual studies under two section: (A) Defining the Threat (8 studies); and (B) Strategies for Dealing with the Threat (18 studies). Detailed recommendations are made, in many of the studies, for better protection of nuclear weapons, materials, and facilities; greater cooperation among national intelligence agencies; tighter controls on nuclear transfers; more effective arms control initiatives; and emergency management programs. A separate abstract was prepared for the report and each of the 26 studies

2 SDI, alliance coherence, and East-West nuclear stability

International Nuclear Information System (INIS)

Kolodzie, E.A.

1988-01-01

The nuclear modernization programme, offensive and defensive, now being implemented or seriously proposed by the Western nuclear states and the Soviet Union pose critical problems for the stability of the European and global nuclear balance. The Reagan administration's Strategic Defence Initiative (SDI) and the dramatic growth of British and French nuclear capabilities add new strains on the arms race now underway between the superpowers. Current and emerging instabilities must be addressed promptly along a broad political front, within and outside the framework of the Atlantic Alliance, before they further split the alliance and damage efforts---principally those being pursued at Geneva in the superpower arms control talks---to manage the nuclear balance and the conflicts that divide the two blocs in Europe and elsewhere. The first part of this paper diagnoses the disturbing elements of the evolving nuclear environment which promotes instability. The second suggests an approach -- complex bilateralism -- that might be employed to bring these destabilizing trends under control to promote the development of more coherent, cohesive, and mutually confident alliance strategic policies than exist today and to enhance East-West stability

Recent and prospective developments in nuclear arsenals

International Nuclear Information System (INIS)

Brown, M.

1993-01-01

Arms controllers have long complained that the only weapons states give up in arms control negotiations are strategically insignificant weapons. This is why the United States and Soviet Union shied away from giving up much in SALT I and SALT II: each side felt that it could not significantly reduce its nuclear forces, or take any step that might give the other side an advantage. Do not be fooled: policy makers in Washington and Moscow still believe that it is important to hang on to strategically significant weapons. But, because the world has changed in fundamental ways, fewer weapons are strategically significant today. Now that extended deterrence requirements have virtually disappeared, the main reason for having nuclear weapons is to deter other nuclear powers from attacking with their nuclear weapons. There is, therefore, no compelling reason for having large nuclear forces. Given concerns about unauthorized attacks, accidental launches, and high levels of defense spending, there are good reasons for deploying smaller forces. This is why Washington and Moscow have been cutting their nuclear arsenals to levels that were unimaginable even in 1990. How far this process will go is impossible to say at this juncture. What is clear is that Washington and Moscow can - and should - make even deeper cuts in their nuclear forces. If the United States and Russia retain arsenals with thousands of nuclear weapons, Britain, France, and China - whose arsenals contain hundreds of nuclear weapons - will not join the arms reduction process. Countries that have promised to give up the nuclear weapons currently stationed on their territory - Kazakhstan, the Ukraine, and Belorussia - will be more inclined to retain them, on the grounds that nuclear weapons are seen to have strategic and political value. For the same reasons, countries on the nuclear threshold, such as India, will be more inclined to acquire nuclear weapons. If the United States and Russia retain massive nuclear

The politics of arms control treaty ratification

International Nuclear Information System (INIS)

Krepon, M.; Caldwell, D.

1991-01-01

This book presents a critical examination of executive-congressional relations and the domestic politics of arms control treaty ratification within the United States during the twentieth century. The staring point of this study is the hypothesis that the politics of treaty ratification can be as important as the negotiations leading up to agreements. Benefits to international peace and security sought in years of painstaking diplomatic effort can be lost without Senate consent, as was the case with the Treaty of Versailles and the second treaty arising from the Strategic Arms Limitation Talks (SALT II). The authors of the case studies were requested to present first a brief, historical introduction to the case indicating why the case was important, the background concerning the origins of the treaty, and the treaty's major provisions. The purpose of the introduction to the case was not to provide a complete picture of the negotiating record but to set the stage for a more in-depth discussion of the events that followed after the treaty was signed. The authors address five substantive areas: the international political context of the treaty, the domestic political context, the role of the president, executive-congressional relations, and public opinion and the role of interest groups. The questions and issues concerning each of these areas are briefly summarized

Controlled, Rapid Uprighting of Molars: A surprisingly Simple Solution The Pivot Arm Appliance.

Science.gov (United States)

Warise, Timothy R; Galella, Steve A

2015-01-01

In orthodontic cases where the regional anatomy provides limited room for eruption, there is etiologically a higher occurrence of tipped/impacted second molars. Although second molar extraction with third molar replacement is a useful option, the "Pivot Arm Appliance" encourages the uprighting of the second molar as a preferred treatment. The most unique and important attribute of the "Pivot Arm Appliance" is the rotating tube. In cases of access limitation, the disto-occlusal surface of the molar presents as one area that is accessible. Other features of the "Pivot Arm Appliance" include: The position of the rotator tube delivers optimal rotational force through the pivoting action of the tube/arm complex. The "Pivot Arm Appliance" takes advantage of the efficiency and simplicity of a Class I lever system. The anatomical fulcrum being the dense cortical bone located anterior to the ascending ramus. The vertical spring system is compact, reliable and delivers gentle controlled force in rotational direction. The lingual location of the "Pivot Arm Appliance" does not hinder the function of the tongue, impinge on the soft tissue or interfere with normal masticatory function. The ease of placement of the rotator tube and subsequent insertion of the spring. It is well to note the uprighting appliance provides a very useful and practical approach to the unique problem of severely tipped second molars with limited buccal access. The "Pivot Arm Appliance" does not function only in these situations but can be used in all cases of second molar uprighting of a moderate to severe nature.

Primary reaction control system/remote manipulator system interaction with loaded arm. Space shuttle engineering and operations support

Science.gov (United States)

Taylor, E. C.; Davis, J. D.

1978-01-01

A study of the interaction between the orbiter primary reaction control system (PRCS) and the remote manipulator system (RMS) with a loaded arm is documented. This analysis was performed with the Payload Deployment and Retrieval Systems Simulation (PDRSS) program with the passive arm bending option. The passive-arm model simulates the arm as massless elastic links with locked joints. The study was divided into two parts. The first part was the evaluation of the response of the arm to step inputs (i.e. constant jet torques) about each of the orbiter body axes. The second part of the study was the evaluation of the response of the arm to minimum impulse primary RCS jet firings with both single pulse and pulse train inputs.

Nuclear weapons issues in South Asia

Energy Technology Data Exchange (ETDEWEB)

Joeck, N.

1993-07-02

This report discusses how the US can play a productive mediating role in South Asia by engaging India and Pakistan in an international forum to manage nuclear weapons, as Edward Teller advocated. India and Pakistan have developed their nuclear capabilities because they fear their neighbors, not because they want to threaten fear their neighbors, not because they want to threaten the US. The appropriate response for the US, therefore, is diplomatic engagement and negotiations. In addition to the international approach, encouragement and facilitation of regional and bilateral interactions will also be important. Formal arms control agreements have been reached, but less formal confidence-building measures, and unilateral security pledges may well be combined to form a more secure strategic environment in South Asia than a nuclear armed confrontation across the porous South Asian border.

Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

Science.gov (United States)

Nabeel, Hafiz Muhammad; Azher, Anum; Usman Ali, Syed M.; Wahab Mughal, Abdul

2013-12-01

In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface.

Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

International Nuclear Information System (INIS)

Nabeel, Hafiz Muhammad; Azher, Anum; Ali, Syed M Usman; Mughal, Abdul Wahab

2013-01-01

In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface

Integrated control system for nuclear explosives

Energy Technology Data Exchange (ETDEWEB)

Ragsdale, William F [Lawrence Radiation Laboratory, University of California, Livermore, CA (United States)

1970-05-15

The Integrated Control System (ICS) has been developed to facilitate Plowshare nuclear detonations by following a unified system approach. This system consolidates the techniques for firing, safety program, scientific program, and communications. Maximum emphasis is placed upon control and data transmission by radio rather than hardwire or coaxial cable. The ICS consists of a Command Point (CP) Trailer, a radio repeater station, a field station (the ICE Box), and several chassis located in the explosive canister. Commands originate in the CP and are transmitted via microwave radio to the ICE Box; monitors are returned to the CP from the canister, the ICE Box, and sensors near ground zero. The system allows complete checkout and operation before shipment to the field. The explosive canister may be dry-run at the assembly area (at NTS) before shipment to the field. The basic detonation functions for every event are: 1. Arming and firing commands in the explosive canister and at surface ground zero. 2. Environmental monitors and suitable arming monitors in the explosive canister. 3. Safety monitors at the zero site for weather, RAMS (Remote Area Monitoring System), and cavity collapse. Secondary functions that may be required for a specific project are: 4. Scientific program of phenomenology measurements. 5. Explosive performance measurements. 6. Ground zero television. 7. Auxiliary communications such as local telephones, VHF radio. By combining functions that have previously been performed by separate organizations and systems, the ICS attempts a minimum cost detonation service. Economy of operation results because: 1. Operating personnel work on more than one sub-system. 2. Interfaces and interface complexity are minimized. 3. A reduced dependence upon signal cables results from a microwave-based system. 4. Pre-fabrication allows test operation before shipment to the field and minimizes setup time in the field. The ICS is in use on the Sturtevant event and is

Visits to Australia by nuclear powered or armed vessels: contingency planning for the accidental release of ionizing radiation

International Nuclear Information System (INIS)

1989-01-01

The report refers to the adequacy of current contingency planning by the Australian Federal and Senate authorities to deal with the accidental release of ionizating radiation from visiting nuclear powered or armed vessels in Australian waters and ports. Much of the material was obtained in response to questions put in writing by the Senate Standing Committee to the Department of Defence, ANSTO and others. In addition, the report contains relevant information from Commonwealth documents as well as the Committee findings and recommendations. Issues considered include: types of visiting nuclear powered vessels, accident likelihood and consequences, differences between naval and land-based reactors, safety records. The persons or organizations who made submissions or appeared in all public hearings are listed in the appendixes, along with all visits to Australian ports by nuclear powered warships from 1976 to 1988

Protection and control of nuclear materials

International Nuclear Information System (INIS)

Jalouneix, J.; Winter, D.

2007-01-01

In the framework of the French regulation on nuclear materials possession, the first liability is the one of operators who have to know at any time the quantity, quality and localization of any nuclear material in their possession. This requires an organization of the follow up and of the inventory of these materials together with an efficient protection against theft or sabotage. The French organization foresees a control of the implementation of this regulation at nuclear facilities and during the transport of nuclear materials by the minister of industry with the sustain of the institute of radiation protection and nuclear safety (IRSN). This article presents this organization: 1 - protection against malevolence; 2 - national protection and control of nuclear materials: goals, administrative organization, legal and regulatory content (authorization, control, sanctions), nuclear materials protection inside facilities (physical protection, follow up and inventory, security studies), protection of nuclear material transports (physical protection, follow up), control of nuclear materials (inspection at facilities, control of nuclear material measurements, inspection of nuclear materials during transport); 3 - international commitments of France: non-proliferation treaty, EURATOM regulation, international convention on the physical protection of nuclear materials, enforcement in France. (J.S.)

Sample size determinations for group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms.

Science.gov (United States)

Heo, Moonseong; Litwin, Alain H; Blackstock, Oni; Kim, Namhee; Arnsten, Julia H

2017-02-01

We derived sample size formulae for detecting main effects in group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms. Such designs are necessary when experimental interventions need to be administered to groups of subjects whereas control conditions need to be administered to individual subjects. This type of trial, often referred to as a partially nested or partially clustered design, has been implemented for management of chronic diseases such as diabetes and is beginning to emerge more commonly in wider clinical settings. Depending on the research setting, the level of hierarchy of data structure for the experimental arm can be three or two, whereas that for the control arm is two or one. Such different levels of data hierarchy assume correlation structures of outcomes that are different between arms, regardless of whether research settings require two or three level data structure for the experimental arm. Therefore, the different correlations should be taken into account for statistical modeling and for sample size determinations. To this end, we considered mixed-effects linear models with different correlation structures between experimental and control arms to theoretically derive and empirically validate the sample size formulae with simulation studies.

Global nuclear material control model

International Nuclear Information System (INIS)

Dreicer, J.S.; Rutherford, D.A.

1996-01-01

The nuclear danger can be reduced by a system for global management, protection, control, and accounting as part of a disposition program for special nuclear materials. The development of an international fissile material management and control regime requires conceptual research supported by an analytical and modeling tool that treats the nuclear fuel cycle as a complete system. Such a tool must represent the fundamental data, information, and capabilities of the fuel cycle including an assessment of the global distribution of military and civilian fissile material inventories, a representation of the proliferation pertinent physical processes, and a framework supportive of national or international perspective. They have developed a prototype global nuclear material management and control systems analysis capability, the Global Nuclear Material Control (GNMC) model. The GNMC model establishes the framework for evaluating the global production, disposition, and safeguards and security requirements for fissile nuclear material

After the world court opinion: Towards a world without nuclear weapons

International Nuclear Information System (INIS)

Roche, D.

1998-01-01

With the World Court advisory opinion on the treat or use of nuclear weapons, a new moment has arrived in the 51-year history of atomic bomb. The highest legal body in the world has said that governments must not only pursue but conclude negotiations leading to total nuclear disarmament. Both a sharp focus and a comprehensive action are required in developing public support and political action towards a safer, more peaceful world. Three-pronged interrelated course of action is proposed: a Nuclear Weapon Convention; reduction in conventional arms and control of arms trade; and new spending priorities or sustainable development

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

Science.gov (United States)

Barker, L. K.; Houck, J. A.; Carzoo, S. W.

1984-01-01

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

Nonparetic arm force does not overinhibit the paretic arm in chronic poststroke hemiparesis.

Science.gov (United States)

Dimyan, Michael A; Perez, Monica A; Auh, Sungyoung; Tarula, Erick; Wilson, Matthew; Cohen, Leonardo G

2014-05-01

To determine whether nonparetic arm force overinhibits the paretic arm in patients with chronic unilateral poststroke hemiparesis. Case-control neurophysiological and behavioral study of patients with chronic stroke. Research institution. Eighty-six referred patients were screened to enroll 9 participants (N=9) with a >6 month history of 1 unilateral ischemic infarct that resulted in arm hemiparesis with residual ability to produce 1Nm of wrist flexion torque and without contraindication to transcranial magnetic stimulation. Eight age- and handedness-matched healthy volunteers without neurologic diagnosis were studied for comparison. Not applicable. Change in interhemispheric inhibition targeting the ipsilesional primary motor cortex (M1) during nonparetic arm force. We hypothesized that interhemispheric inhibition would increase more in healthy controls than in patients with hemiparesis. Healthy age-matched controls had significantly greater increases in inhibition from their active to resting M1 than patients with stroke from their active contralesional to resting ipsilesional M1 in the same scenario (20%±7% vs -1%±4%, F1,12=6.61, P=.025). Patients with greater increases in contralesional to ipsilesional inhibition were better performers on the 9-hole peg test of paretic arm function. Our findings reveal that producing force with the nonparetic arm does not necessarily overinhibit the paretic arm. Though our study is limited in generalizability by the small sample size, we found that greater active contralesional to resting ipsilesional M1 inhibition was related with better recovery in this subset of patients with chronic poststroke. Copyright © 2014 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

An evaluation of Kazakhstan nuclear export control system

International Nuclear Information System (INIS)

Yeligbayeva, G.; Masenov, Ch.

2002-01-01

A system to control the export nuclear materials and technologies is a natural part of creating a self-sustaining government. The government of Kazakhstan has made a great deal of progress in building such a system. Control of export and import of nuclear materials and technologies and dual-use materials, related to nuclear activity, became one of the important part of mechanism of Non-Proliferation conditions realization in Kazakhstan. The system of export control has developed well over the 10 years. Kazakhstan is in the midst of a long process of building a functional export control system consistent with World standards. The state system of export control currently exists in Kazakhstan on the legislative base, and is based on efficient cooperation of the KAEC with a number of competent state bodies (Ministry of Economy, Ministry of Foreign Affairs, State Customs Committee) each of them has its own specific functions, duties and rights. The export is carried out using licenses, issued by the Ministry of Economy of the RK, according to applications of certain standard which are previously agreed with the KAEC under decision of the RK Government. The KAEC, acting on the base of export control principles and observance of international obligations on non-proliferation matter, makes decisions, only after thorough evaluation of ways of export and reliability of an end-user of the commodity, to agree the application for a license. The most fully developed aspect is the licensing process. General politics of export regulation in Kazakhstan are based on normative acts and rules, which are wholly appropriate (complementary) to the managing principles of nuclear export. There exists a full legal basis for the licensing system. But the process is going, some provisions is changing: in 2000 Kazakhstan corrected the export control law and approved the national control list very similar with EU control list, in 2002 the rules of the process of licensing the export and import

Control of Nuclear Materials and Special Equipment (Nuclear Safety Regulations)

International Nuclear Information System (INIS)

Cizmek, A.; Prah, M.; Medakovic, S.; Ilijas, B.

2008-01-01

Based on Nuclear Safety Act (OG 173/03) the State Office for Nuclear Safety (SONS) in 2008 adopted beside Ordinance on performing nuclear activities (OG 74/06) and Ordinance on special conditions for individual activities to be performed by expert organizations which perform activities in the area of nuclear safety (OG 74/06) the new Ordinance on the control of nuclear material and special equipment (OG 15/08). Ordinance on the control of nuclear material and special equipment lays down the list of nuclear materials and special equipment as well as of nuclear activities covered by the system of control of production of special equipment and non-nuclear material, the procedure for notifying the intention to and filing the application for a license to carry out nuclear activities, and the format and contents of the forms for doing so. This Ordinance also lays down the manner in which nuclear material records have to be kept, the procedure for notifying the State administration organization (regulatory body) responsible for nuclear safety by the nuclear material user, and the keeping of registers of nuclear activities, nuclear material and special equipment by the State administration organization (regulatory body) responsible for nuclear safety, as well as the form and content of official nuclear safety inspector identification card and badge.(author)

A nuclear-free zone for the Southwest Pacific: prospects and significance

International Nuclear Information System (INIS)

Fry, G.

1983-01-01

The Australian Government is currently seeking to promote the concept of a nuclear-free zone for the Southwest Pacific. This paper explores three fundamental questions concerning the Australian proposal. Firstly, what would be the boundaries of such a zone and what does 'nuclear-free' mean in this context Secondly, what are the prospects for agreement on the establishment of a zone. Could regional states and nuclear powers agree to what is being proposed. And finally, what would be the significance, in arms control terms, were such an agreement to be signed. Would it, in fact, achieve anything. In an approach to these questions, the author surveys the strategic situation in the region, the level and pattern of nuclear involvement, past experience with zone proposals, and the current positions of various regional states and nuclear weapons powers on this question. He concludes that the necessary basis for agreement does exist and that modest arms control objectives could be served by the establishment of such a zone

Apparatus for installing and removing a control rod drive in a nuclear reactor

International Nuclear Information System (INIS)

Turner, A.P.L.; Ward, R.

1989-01-01

This patent describes an apparatus for installing and removing a control rod drive from beneath the pressure vessel of a nuclear reactor. It consists of elevator carriage for carrying the control rod drive into and out of the region beneath the pressure vessel in a generally horizontal position, an elevator cradle mounted on the carriage for pivotal movement about an axis between horizontal and vertical positions and for vertical movement, when in the vertical position, means for securing the control rod drive to the elevator cradle, and a winch cart movable horizontally between a first position spaced from the pivot axis and a second position near the pivot axis. The cart has a winch cable supporting the lower end of the elevator carriage for moving the elevator carriage and the control rod drive between horizontal and vertical positions on the elevator carriage when the cart is spaced from the pivot axis and for raising and lowering the elevator cradle and the control rod drive when the cart is positioned near the pivot axis. The control rod drive is mounted on the elevator cradle by a bearing permitting rotational and horizontal movement of the control rod drive when the drive is in a vertical position, a swing arm, a pneumatically actuated cylinder in axial alignment with the control rod drive for raising and lowering the control rod drive, and means pivotally mounting the cylinder on the swing arm for movement about an axis spaced from and generally parallel to the vertically extending axis so that the position of the cylinder and the control rod drive can be shifted horizontally about the vertically extending axes

Feedback attitude sliding mode regulation control of spacecraft using arm motion

Science.gov (United States)

Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

2013-09-01

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

Impairment-oriented training or Bobath therapy for severe arm paresis after stroke: a single-blind, multicentre randomized controlled trial.

Science.gov (United States)

Platz, T; Eickhof, C; van Kaick, S; Engel, U; Pinkowski, C; Kalok, S; Pause, M

2005-10-01

To study the effects of augmented exercise therapy time for arm rehabilitation as either Bobath therapy or the impairment-oriented training (Arm BASIS training) in stroke patients with arm severe paresis. Single blind, multicentre randomized control trial. Three inpatient neurorehabilitation centres. Sixty-two anterior circulation ischaemic stroke patients. Random assignment to three group: (A) no augmented exercise therapy time, (B) augmented exercise therapy time as Bobath therapy and (C) augmented exercise therapy time as Arm BASIS training. Fugl-Meyer arm motor score. Secondary measure: Action Research Arm Test (ARA). Ancillary measures: Fugl-Meyer arm sensation and joint motion/pain scores and the Ashworth Scale (elbow flexors). An overall effect of augmented exercise therapy time on Fugl-Meyer scores after four weeks was not corroborated (mean and 95% confidence interval (CI) of change scores: no augmented exercise therapy time (n=20) 8.8, 5.2-12.3; augmented exercise therapy time (n=40) 9.9, 6.8-13.9; p = 0.2657). The group who received the augmented exercise therapy time as Arm BASIS training (n=20) had, however, higher gains than the group receiving the augmented exercise therapy time as Bobath therapy (n=20) (mean and 95% CI of change scores: Bobath 7.2, 2.6-11.8; BASIS 12.6, 8.4-16.8; p = 0.0432). Passive joint motion/pain deteriorated less in the group who received BASIS training (mean and 95% CI of change scores: Bobath -3.2, -5.2 to -1.1; BASIS 0.1, -1.8-2.0; p = 0.0090). ARA, Fugl-Meyer arm sensation, and Ashworth Scale scores were not differentially affected. The augmented exercise therapy time as Arm BASIS training enhanced selective motor control. Type of training was more relevant for recovery of motor control than therapeutic time spent.

A prototype system dynamic model of nuclear and radiological export controls in Central Asia and the Caucasus; enhancing the effectiveness of preventing illicit nuclear material trafficking

International Nuclear Information System (INIS)

Ferguston, C.D.; Ouagrham, S.B.

2002-01-01

An urgent need calls out for improved border security and export control systems in the Central Asian and Caucasus regions to prevent illicit nuclear and radioactive materials trafficking. Effective nuclear and radiological exports controls are essential because these regions contain numerous nuclear facilities and radioactive materials as well as lie at the crossroads between seekers and suppliers of technologies that could be employed in nuclear and radiological weapons. Porous and unprotected borders compound these concerns. Moreover, the states within these regions are struggling with forming new regulations and laws, obtaining sufficient portal monitoring equipment, training customs and border security personnel, and coordinating these activities with neighboring states. Building this infrastructure all at once can severely task any government. Thus, unsurprisingly, most of these states have inadequate export control and border security systems. To enable each state in these regions determine how to better prevent illicit nuclear and radiological materials trafficking, the authors have developed a prototype system dynamics model focused on evaluating and improving of effectiveness of export controls. System dynamics modeling, a management tool that grew out of the field of system engineering and nonlinear dynamics, uses two structures: causal loop diagrams and stock and flow diagrams. The former shows how endogenous systematic factors interact with each other to produce feedback mechanisms that results in either balancing or reinforcing loops. A classic example is a arms race, modeled as a vicious cycle or reinforcing loop. In addition to interacting with each other, causal loops influence the flow of stock, which is material concern. In the export control system dynamics model, the stock represents nuclear and radioactive materials. System dynamics modelling is an iterative process that is continually modified by user input. Therefore, export control

Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniques

Science.gov (United States)

Book, W. J.; Majett, M.

1982-01-01

The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.

Dynamic parameter identification of robot arms with servo-controlled electrical motors

Science.gov (United States)

Jiang, Zhao-Hui; Senda, Hiroshi

2005-12-01

This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

India's nuclear security

International Nuclear Information System (INIS)

Thomas, Raju G.C.; Gupta, Amit

2000-01-01

The nuclear weapons and ballistic missile tests conducted by India and Pakistan in the late 1990s substantially altered the security environment, both in the region and globally. Examining the complexities, and dynamics of this new strategic context, this timely and significant book examines the claim of many Indian strategists that stability in the region is better served under conditions of declared-rather than covertly developed-nuclear weapons. Bringing together original essays by a diverse group of scholars, this volume discusses a number of important issues such as: the political considerations that caused India and Pakistan to go nuclear; the type of nuclear doctrine that is likely to emerge and its implications for the safety of nuclear weapons, the potential for an arms race in the region, and the likelihood of war; the political and economic consequences for India after Pokhran-II and the impact of economic sanctions; the technological ramifications of the nuclear program on India's defence science scenario; the impact of these tests on the future of India's relationship with the United States, the main bulwark against nuclear weapons proliferation, also, the changed role that India sees for itself in international fora; the possible arms control measures that might succeed in stabilizing the South Asian nuclear rivalry. This insightful, comprehensive and topical volume is a must-read for all those in the fields of political science, international relations, strategic affairs, conflict/peace studies, economics, and policy studies

“Many Countries Will Have the Bomb: There Will Be Hell”: Edoardo Amaldi and the Italian Physicists Committed to Disarmament, Arms Control and Détente

International Nuclear Information System (INIS)

Clavarino, Lodovica

2017-01-01

The chapter analyzes Edoardo Amaldi’s commitment to disarmament and détente in Italy during the Cold War and in particular during the debate about the signing of the Non-Proliferation Treaty (NPT). Amaldi (1908-1989) can be considered one of the leading Italian scientists involved in the national and international campaign against nuclear proliferation. In the mid-1960s, a strong civil commitment began to emerge among physicists, as they claimed a voice in Italian security policy, in order to increase public opinion’s awareness about the dangers of the nuclear age and to promote Italian accession to the NPT. While it is difficult to assess to what extent Italian scientists’ efforts in favor of arms control succeeded in influencing Italian politics during the Cold War, their strong involvement in their country’s security policy is in itself a relevant issue for the history of the Italian nuclear experience.

Nuclear danger and nuclear history

International Nuclear Information System (INIS)

Howard, M.

1988-01-01

This article makes a review of the books Danger and Survival: Choices about the Bomb in the First Fifty Years written by McGeorge Bundy, and War and Peace in the Nuclear Age written by John Newhouse. A history of political decisions on weapon development is given, along with a what if analysis of other options. The lesson of these two books is that it has proved considerably easier to live with nuclear weapons and the Soviet Union than anyone expected forty years ago. It is all the easier if arms control issues, based on worst case analyses, are kept in their place, which is firmly in the background of the overall conduct of foreign policy

To Keep and Bear Arms: Gun Control and the Second Amendment. Teacher's Guide.

Science.gov (United States)

Edwards, Amy N.; Walker, Tim

This teacher's guide is designed to accompany the two-part videotape "To Keep and Bear Arms: Gun Control and the Second Amendment." The videotape and teacher's guide should help students to: (1) understand the history of the Second Amendment; (2) examine how guns and gun control laws affect people's lives; (3) compare and contrast the…

Worldwide Report, Arms Control.

Science.gov (United States)

1985-11-22

dinosaurs (and a large number of other species which disappeared "simultaneously") might have become extinct because a large comet hit the earth’s...clear yet aeain the reasons why Washington is in such haste in the arms race for "star wars" and why it refuses to assume a commitment not to be...Kolesnichenko says: [Begin Kolesnichenko recording in Russian with English translation] In an effort to calm the American public and provide a logical reason

Brain-Machine Interface control of a robot arm using actor-critic rainforcement learning.

Science.gov (United States)

Pohlmeyer, Eric A; Mahmoudi, Babak; Geng, Shijia; Prins, Noeline; Sanchez, Justin C

2012-01-01

Here we demonstrate how a marmoset monkey can use a reinforcement learning (RL) Brain-Machine Interface (BMI) to effectively control the movements of a robot arm for a reaching task. In this work, an actor-critic RL algorithm used neural ensemble activity in the monkey's motor cortext to control the robot movements during a two-target decision task. This novel approach to decoding offers unique advantages for BMI control applications. Compared to supervised learning decoding methods, the actor-critic RL algorithm does not require an explicit set of training data to create a static control model, but rather it incrementally adapts the model parameters according to its current performance, in this case requiring only a very basic feedback signal. We show how this algorithm achieved high performance when mapping the monkey's neural states (94%) to robot actions, and only needed to experience a few trials before obtaining accurate real-time control of the robot arm. Since RL methods responsively adapt and adjust their parameters, they can provide a method to create BMIs that are robust against perturbations caused by changes in either the neural input space or the output actions they generate under different task requirements or goals.

Whither the legal control of nuclear energy?

International Nuclear Information System (INIS)

Riley, Peter

1995-01-01

International nuclear trade is governed by the regime of legal control of nuclear energy, nuclear materials, knowledge of nuclear processes and weapons. Nuclear trade is under pinned by international agreements concerning physical protection and safeguards, the control of nuclear weapons, the protection of nuclear materials from terrorist action and third part liability. The political and geographical boundary changes of the past two years have significantly altered the background against which this regime has developed. Such changes have affected nuclear trade. The paper summarised the legal control of nuclear energy between States, identifies the areas of change which may affect this regime and the consequences for international trade. Conclusions are drawn as to the development of the international legal control of nuclear energy. (author). 21 refs

Controlling nuclear proliferation

International Nuclear Information System (INIS)

Sweet, W.

1981-01-01

Nuclear non-proliferation policy depends on the 1968 Non-Proliferation Treaty, in which countries promise not to acquire nuclear weapons in exchange for open access to peaceful nuclear technology, and a system of international safeguards that are imposed on exported nuclear equipment and facilities operated by parties to the treaty. Critics have feared all along that non-nuclear countries might circumvent or exploit the system to obtain nuclear weapons and that the Atoms for Peace plan would spread the very technology it sought to control. The nuclear weapons states would like everyone else to believe that atomic bombs are undesirable, but they continue to rely on the bombs for their own defense. Israel's raid on Iraq's nuclear reactor focused world attention on the proliferation problem and helped to broaden and sterengthen its prospects. It also highlighted the weakness that there are no effective sanctions against violators. Until the international community can ageee on enforcement measures powerful enough to prevent nuclear proliferation, individual countries may be tempted to follow Israel's example, 19 references

The Atomic Papers: A citizen's guide to selected books and articles on the bomb, the arms race, nuclear power, the peace movement, and related issues

International Nuclear Information System (INIS)

Burns, G.

1984-01-01

The Atomic Papers annotates over 800 books published since 1945 and approximately 300 periodical articles since 1980 on every facet of the nuclear dilemma: the development and effects of the bomb, the arms race, nuclear proliferation, and the peace movement. Work on both sides of the nuclear power controversy also receives substantial attention. All references are to English-language material, and nearly half are to work published since 1980. The concluding chapter, ''The Art of Fission,'' describes over one hundred novels and stories with nuclear themes published since 1945--and, in a few cases, before that date

Comparison between sEMG and force as control interfaces to support planar arm movements in adults with Duchenne: a feasibility study.

Science.gov (United States)

Lobo-Prat, Joan; Nizamis, Kostas; Janssen, Mariska M H P; Keemink, Arvid Q L; Veltink, Peter H; Koopman, Bart F J M; Stienen, Arno H A

2017-07-12

Adults with Duchenne muscular dystrophy (DMD) can benefit from devices that actively support their arm function. A critical component of such devices is the control interface as it is responsible for the human-machine interaction. Our previous work indicated that surface electromyography (sEMG) and force-based control with active gravity and joint-stiffness compensation were feasible solutions for the support of elbow movements (one degree of freedom). In this paper, we extend the evaluation of sEMG- and force-based control interfaces to simultaneous and proportional control of planar arm movements (two degrees of freedom). Three men with DMD (18-23 years-old) with different levels of arm function (i.e. Brooke scores of 4, 5 and 6) performed a series of line-tracing tasks over a tabletop surface using an experimental active arm support. The arm movements were controlled using three control methods: sEMG-based control, force-based control with stiffness compensation (FSC), and force-based control with no compensation (FNC). The movement performance was evaluated in terms of percentage of task completion, tracing error, smoothness and speed. For subject S1 (Brooke 4) FNC was the preferred method and performed better than FSC and sEMG. FNC was not usable for subject S2 (Brooke 5) and S3 (Brooke 6). Subject S2 presented significantly lower movement speed with sEMG than with FSC, yet he preferred sEMG since FSC was perceived to be too fatiguing. Subject S3 could not successfully use neither of the two force-based control methods, while with sEMG he could reach almost his entire workspace. Movement performance and subjective preference of the three control methods differed with the level of arm function of the participants. Our results indicate that all three control methods have to be considered in real applications, as they present complementary advantages and disadvantages. The fact that the two weaker subjects (S2 and S3) experienced the force-based control

Performance of arm locking in LISA

International Nuclear Information System (INIS)

McKenzie, Kirk; Spero, Robert E.; Shaddock, Daniel A.

2009-01-01

For the Laser Interferometer Space Antenna (LISA) to reach its design sensitivity, the coupling of the free-running laser frequency noise to the signal readout must be reduced by more than 14 orders of magnitude. One technique employed to reduce the laser frequency noise will be arm locking, where the laser frequency is locked to the LISA arm length. In this paper we detail an implementation of arm locking. We investigate orbital effects (changing arm lengths and Doppler frequencies), the impact of errors in the Doppler knowledge that can cause pulling of the laser frequency, and the noise limit of arm locking. Laser frequency pulling is examined in two regimes: at lock acquisition and in steady state. The noise performance of arm locking is calculated with the inclusion of the dominant expected noise sources: ultrastable oscillator (clock) noise, spacecraft motion, and shot noise. We find that clock noise and spacecraft motion limit the performance of dual arm locking in the LISA science band. Studying these issues reveals that although dual arm locking [A. Sutton and D. A. Shaddock, Phys. Rev. D 78, 082001 (2008)] has advantages over single (or common) arm locking in terms of allowing high gain, it has disadvantages in both laser frequency pulling and noise performance. We address this by proposing a modification to the dual arm-locking sensor, a hybrid of common and dual arm-locking sensors. This modified dual arm-locking sensor has the laser frequency pulling characteristics and low-frequency noise coupling of common arm locking, but retains the control system advantages of dual arm locking. We present a detailed design of an arm-locking controller and perform an analysis of the expected performance when used with and without laser prestabilization. We observe that the sensor phase changes beneficially near unity-gain frequencies of the arm-locking controller, allowing a factor of 10 more gain than previously believed, without degrading stability. With a time

dSPACE real time implementation of fuzzy PID position controller for vertical rotating single link arm robot using four-quadrant BLDC drive

Directory of Open Access Journals (Sweden)

Manikandan Ramasamy

2017-07-01

Full Text Available Automation has been growing in recent years for the manufacturing industries to increase productivity. Multiple robotic arms are used to handle materials for lifting in flexible directions. The vertical rotation of a 360 degree single arm is considered in this research on a position servo drive with brushless DC motor. The load torque of an arm varies depending upon the angular displacement due to gravity, so it requires four-quadrant operation of the drive with a robust feedback controller. This paper deals with the design and performance comparison of a conventional PID feedback controller with a fuzzy-based PID controller and suggests the most suitable controller. The design was implemented in real time through the dSPACE DS1104 controller environment to verify the dynamic behaviors of the arm.

Electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength after stroke.

Science.gov (United States)

Mehrholz, Jan; Pohl, Marcus; Platz, Thomas; Kugler, Joachim; Elsner, Bernhard

2015-11-07

Electromechanical and robot-assisted arm training devices are used in rehabilitation, and may help to improve arm function after stroke. To assess the effectiveness of electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength in people after stroke. We also assessed the acceptability and safety of the therapy. We searched the Cochrane Stroke Group's Trials Register (last searched February 2015), the Cochrane Central Register of Controlled Trials (CENTRAL) (the Cochrane Library 2015, Issue 3), MEDLINE (1950 to March 2015), EMBASE (1980 to March 2015), CINAHL (1982 to March 2015), AMED (1985 to March 2015), SPORTDiscus (1949 to March 2015), PEDro (searched April 2015), Compendex (1972 to March 2015), and Inspec (1969 to March 2015). We also handsearched relevant conference proceedings, searched trials and research registers, checked reference lists, and contacted trialists, experts, and researchers in our field, as well as manufacturers of commercial devices. Randomised controlled trials comparing electromechanical and robot-assisted arm training for recovery of arm function with other rehabilitation or placebo interventions, or no treatment, for people after stroke. Two review authors independently selected trials for inclusion, assessed trial quality and risk of bias, and extracted data. We contacted trialists for additional information. We analysed the results as standardised mean differences (SMDs) for continuous variables and risk differences (RDs) for dichotomous variables. We included 34 trials (involving 1160 participants) in this update of our review. Electromechanical and robot-assisted arm training improved activities of daily living scores (SMD 0.37, 95% confidence interval (CI) 0.11 to 0.64, P = 0.005, I² = 62%), arm function (SMD 0.35, 95% CI 0.18 to 0.51, P arm muscle strength (SMD 0.36, 95% CI 0.01 to 0.70, P = 0.04, I² = 72%), but the quality of the evidence was low to very low

CyARM: Haptic Sensing Device for Spatial Localization on Basis of Exploration by Arms

Directory of Open Access Journals (Sweden)

Junichi Akita

2009-01-01

Full Text Available We introduce a new type of perception aid device based on user's exploration action, which is named as CyARM (acronym of “Cyber Arm”. The user holds this device in her/his arm, the extension of the arm is controlled by tension in wires, which are attached to her/his body according to the distance to the object. This user interface has unique characteristics that give users the illusion of an imaginary arm that extends to existing objects. The implementations of CyARM and our two experiments to investigate the efficiency and effectiveness of CyARM are described. The results show that we could confirm that CyARM can be used to recognize the presence of an object in front of the user and to measure the relative distance to the object.

Nonspecific Arm Pain

Directory of Open Access Journals (Sweden)

Ali Moradi

2013-12-01

Full Text Available Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

Nonspecific Arm Pain

Directory of Open Access Journals (Sweden)

Ali Moradi

2013-12-01

Full Text Available   Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

JPRS Report, Arms Control

Science.gov (United States)

1989-11-13

Addresses UN on Disarmament [AGERPRES 24 Oct] 21 LATIN AMERICA MEXICO USSR’s Marcha Praises Anti-Nuclear Policy [UNOMASUNO 27 Oct] 23 NEAR...23 MEXICO USSR’s Marcha Praises Anti-Nuclear Policy PA0111002389 Mexico City UNOMASUNO in Spanish 27 Oct 89 p 6 [Text] Soviet Vice President... Marcha I. Snegur ratified the Soviet’s intention of ridding the world of the threat of nuclear war and highly praised Mexico’s contribution to this

The emerging nuclear suppliers: some guidelines for policy (U)

Energy Technology Data Exchange (ETDEWEB)

Dunn, Lewis A.

1988-04-01

Lewis A. Dunn, a former Assistant Director of the US Arms Control and Disarmament Agency and now a senior analyst with Science Applications International Corporation, looks to the future to offer "The Emerging Nuclear Suppliers: Some Guidelines for Policy ." Mr. Dunn notes that although most emerging suppliers are cautious, many are not party to existing nonproliferation treaties. He calls upon the nonproliferation community to continue the present policy of not supporting unsafeguarded nuclear activities. He suggests that the nonproliferation community work within existing standards and infrastructures of nuclear suppliers to convince emerging supplier nations of the merits of nuclear export control.

How to strengthen the nuclear Non-Proliferation Treaty

International Nuclear Information System (INIS)

Eklund, S.

1975-01-01

NPT consists of a complex set of undertakings and obligations, each of which represents in its own right a highly desirable objective that should be pursued whether or not the Treaty itself existed, and irrespective of the success (or lack of it) achieved in pursuit of the other objectives. These objectives are: (a) to prevent the spread of nuclear weapons to countries other than the five that possessed them at the end of 1966. Obviously, this is the main purpose of the Treaty. It provides the substance of the first three articles and gives the Treaty its name (Arts. I, II, III); (b) to promote international co-operation in developing the peaceful use of nuclear energy, and particularly to help developing countries in this regard (Art. IV); (c) to afford all parties whatever benefits may be derived from the peaceful uses of nuclear explosions (Art. V); (d) to pursue negotiations towards the cessation of the arms race, nuclear disarmament and eventually a treaty on general and complete disarmament, 'under strict and effective international control'. Although this is not actually said in the relevant article (Article VI), it is generally considered that this obligation falls particularly upon those parties of the Treaty that are 'Nuclear Weapon States'. (Art. VI) The preambular paragraph regarding the 'determination expressed' by the parties to the Moscow Test Ban Treaty to seek a complete and perpetual discontinuance of all test explosions of nuclear weapons, is also relevant to the objective of arms control and disarmament. (Art. VI) Since consummation of each of these objectives is 'devoutly to be wished', in Hamlet's words, there should be no question of bargaining or horse-trading between them. Despite some specious arguments to the contrary, history shows that the possession of superior weapons has never prevented war and a further spread of nuclear weapons must inevitably increase, perhaps in geometrical progression, the likelihood of a nuclear conflict

The design of multi-channel pulse amplitude analyzer based on ARM micro controller

International Nuclear Information System (INIS)

Li Hai; Li Xiang; Liu Caixue

2010-01-01

It introduces the design of multi-channel pulse amplitude analyzer based on embedded ARM micro-controller. The embedded and real-time system μC/OS-II builds up the real-time and stability of the system and advances the integration. (authors)

Perception of gain in U.S.-Soviet arms control

International Nuclear Information System (INIS)

D'Anieri, P.J.

1991-01-01

Most current work in the field of international cooperation focuses on the resolution of the 'prisoners dilemma.' Such work begins by assuming that the issues under consideration are defined by absolute gains, where both sides can gain simultaneously. But the realist strand of international relations literature holds that this assumption is suspect - that international relations are usually characterized by relative gains, where gain for one side comes only at the others expense. The model developed here uses the question of absolute versus relative gains not as a theoretical assumption, but as a variable to be measured empirically. The hypothesis is that whether or not the US and the Soviet Union cooperate to limit arms competition is largely determined by whether the two sides define the issue in question as one of absolute or relative gains. The 'perception of gain' hypothesis is compared to explanations at the levels of the international system (rational choice), domestic politics, and individual belief systems. Three case studies are used to compare the strengths and weaknesses of each hypothesis. The findings confirmed that perception of gain is an important independent variable affecting arms control outcomes, but none of the theories were completely supported or rejected

Nonproliferation, arms control and disarmament and extended deterrence in the new security environment

International Nuclear Information System (INIS)

Pilat, Joseph F.

2009-01-01

With the end of the Cold War, in a dramatically changed security environment, the advances in nonnuclear strategic capabilities along with reduced numbers and roles for nuclear forces has altered the calculus of deterrence and defense, at least for the United States. For many, this opened up a realistic possibility of a nuclear-free world. It soon became clear that the initial post-Cold War hopes were exaggerated. The world did change fundamentally, but it did not become more secure and stable. In place of the old Soviet threat, there has been growing concern about proliferation and terrorism involving nuclear and other weapons of mass destruction (WMD), regional conflicts, global instability and increasingly serious new and emerging threats, including cyber attacks and attacks on satellites. For the United States at least, in this emerging environment, the political rationales for nuclear weapons, from deterrence to reassurance to alliance management, are changing and less central than during the Cold War to the security of the United States, its friends and allies. Nuclear weapons remain important for the US, but for a far more limited set of roles and missions. As the Perry-Schlesinger Commission report reveals, there is a domestic US consensus on nuclear policy and posture at the highest level and for the near term, including the continued role of nuclear arms in deterring WMD use and in reassuring allies. Although the value of nuclear weapons has declined for the United States, the value of these weapons for Russia, China and so-called 'rogue' states is seen to be rising. The nuclear logic of NATO during Cold War - the need for nuclear weapons to counter vastly superior conventional capabilities of the Soviet Union and the Warsaw Pact - is today heard from Russians and even some proliferants. Moreover, these weapons present a way for rogues to achieve regional hegemony and possibly to deter interventions by the United States or others. While the vision of a

Nonproliferation, arms control and disarmament and extended deterrence in the new security environment

Energy Technology Data Exchange (ETDEWEB)

Pilat, Joseph F [Los Alamos National Laboratory

2009-01-01

With the end of the Cold War, in a dramatically changed security environment, the advances in nonnuclear strategic capabilities along with reduced numbers and roles for nuclear forces has altered the calculus of deterrence and defense, at least for the United States. For many, this opened up a realistic possibility of a nuclear-free world. It soon became clear that the initial post-Cold War hopes were exaggerated. The world did change fundamentally, but it did not become more secure and stable. In place of the old Soviet threat, there has been growing concern about proliferation and terrorism involving nuclear and other weapons of mass destruction (WMD), regional conflicts, global instability and increasingly serious new and emerging threats, including cyber attacks and attacks on satellites. For the United States at least, in this emerging environment, the political rationales for nuclear weapons, from deterrence to reassurance to alliance management, are changing and less central than during the Cold War to the security of the United States, its friends and allies. Nuclear weapons remain important for the US, but for a far more limited set of roles and missions. As the Perry-Schlesinger Commission report reveals, there is a domestic US consensus on nuclear policy and posture at the highest level and for the near term, including the continued role of nuclear arms in deterring WMD use and in reassuring allies. Although the value of nuclear weapons has declined for the United States, the value of these weapons for Russia, China and so-called 'rogue' states is seen to be rising. The nuclear logic of NATO during Cold War - the need for nuclear weapons to counter vastly superior conventional capabilities of the Soviet Union and the Warsaw Pact - is today heard from Russians and even some proliferants. Moreover, these weapons present a way for rogues to achieve regional hegemony and possibly to deter interventions by the United States or others. While the

How do octopuses use their arms?

Science.gov (United States)

Mather, J A

1998-09-01

A taxonomy of the movement patterns of the 8 flexible arms of octopuses is constructed. Components consist of movements of the arm itself, the ventral suckers and their stalks, as well as the relative position of arms and the skin web between them. Within 1 arm, combinations of components result in a variety of behaviors. At the level of all arms, 1 group of behaviors is described as postures, on the basis of the spread of all arms and the web to make a 2-dimensional surface whose position differs in the 3rd dimension. Another group of arm behaviors is actions, more or less coordinated and involving several to all arms. Arm control appears to be based on radial symmetry, relative equipotentiality of all arms, relative independence of each arm, and separability of components within the arm. The types and coordination of arm behaviors are discussed with relationship to biomechanical limits, muscle structures, and neuronal programming.

Bill project related to the struggle against the proliferation of arms of massive destruction and their vectors; Projet de Loi relatif a la lutte contre la proliferation des armes de destruction massive et de leurs vecteurs

Energy Technology Data Exchange (ETDEWEB)

NONE

2011-07-01

This bill project addresses several issues: the struggle against proliferation of arms of massive destruction (nuclear weapons, nuclear materials, biological weapons, and chemical weapons), the struggle against proliferation of vectors of arms of massive destruction, double-use goods, the use of these weapons and vectors in acts of terrorism

Information booklet on personal protective equipment: arm and hand protection

International Nuclear Information System (INIS)

1992-01-01

Fire, heat, cold, electro-magnetic and ionising radiation, electricity, chemicals, impacts, cuts, abrasion, etc. are the common hazards for arms and hands at work. The gloves chosen for protection of the arm and hand should cover those parts adequately and the material of the gloves should be capable of offering protection against the specific hazard involved. Criteria for choosing arm and hand protection equipment will be based on their shape and part of the arm and hand protected. Guide lines for choosing such personal protection equipment for nuclear facilities are given. (M.K.V.). 3 annexures, 1 appendix

Nuclear export controls and nuclear safeguards

International Nuclear Information System (INIS)

Sevini, F.

2013-01-01

The export control of dual use goods has developed since the early seventies to counter nuclear proliferation. The paper provides an overview of dual-use export control issues also in relation with the Additional Protocol to the Comprehensive Safeguards Agreement, which requires States to provide declarations of the export of the controlled items listed in its Annex II, derived from the Nuclear Suppliers Group Trigger list. Recommendations for improvement are proposed. On the EU level, the paper summarises the framework set by the European Council Regulation 428/2009, requiring Member States to impose control on exports, brokering and transit of dual use goods. The Regulation includes the so-called 'EU dual-use control list' integrating the lists of dual-use items defined by the international regimes and requires also the control on intangible technology transfers as foreseen by U.N. Security Council Resolution 1540. ESARDA has recently launched a new sub-Working Group on export control, which raised large interest and may evolve to a full-fledged working group. Export control may provide an opportunity of technical collaboration between ESARDA and INMM. The paper is followed by the slides of the presentation. (author)

The politics of nuclear consultation in NATO, 1965-1980

International Nuclear Information System (INIS)

Buteux, P.

1983-01-01

One of the least known but most effective Western institutions is the Nuclear Planning Group (NPG) of NATO. Conceived in 1965 as a result of the debacle of the multilateral nuclear force, it has been a forum for consultation on the Alliance's strategic policy, especially regarding tactical atomic weapons and the control of nuclear arms. This is an account of about as much as can be discussed about NPG deliberations

Shaping of arm configuration space by prescription of non-Euclidean metrics with applications to human motor control

Science.gov (United States)

Biess, Armin

2013-01-01

The study of the kinematic and dynamic features of human arm movements provides insights into the computational strategies underlying human motor control. In this paper a differential geometric approach to movement control is taken by endowing arm configuration space with different non-Euclidean metric structures to study the predictions of the generalized minimum-jerk (MJ) model in the resulting Riemannian manifold for different types of human arm movements. For each metric space the solution of the generalized MJ model is given by reparametrized geodesic paths. This geodesic model is applied to a variety of motor tasks ranging from three-dimensional unconstrained movements of a four degree of freedom arm between pointlike targets to constrained movements where the hand location is confined to a surface (e.g., a sphere) or a curve (e.g., an ellipse). For the latter speed-curvature relations are derived depending on the boundary conditions imposed (periodic or nonperiodic) and the compatibility with the empirical one-third power law is shown. Based on these theoretical studies and recent experimental findings, I argue that geodesics may be an emergent property of the motor system and that the sensorimotor system may shape arm configuration space by learning metric structures through sensorimotor feedback.

Physicians' group seeks nuclear arms ban.

Science.gov (United States)

Litwin, M S

1985-08-02

The history and recent activities of the International Physicians for the Prevention of Nuclear War (IPPNW) are reported. Founded in 1980 by cardiologists Bernard Lown of the United States and Eugene Chazov of the Soviet Union, the group has attracted well over 100,000 members from 51 countries. Following the organization's fifth congress in Budapest in June 1985, a four-city tour of the United States by three American and four Soviet physicians was co-sponsored by IPPNW, Physicians for Social Responsibility, and the Soviet Committee of Physicians for the Prevention of Nuclear War. Through separate lecture series aimed at physicians and laypersons, the doctors sought to persuade colleagues to take an active stand against nuclear war, and to increase public awareness of the medical realities of a nuclear attack. A similar tour of the Soviet Union is planned.

A comprehensive nuclear test ban

International Nuclear Information System (INIS)

1985-01-01

The conclusion of a comprehensive nuclear test ban is of critical importance for the future of arms limitation and disarmament. As the 1980 report of the Secretary-General concluded, a comprehensive nuclear test ban is regarded as the first and most urgent step towards the cessation of the nuclear arms race and, in particular, of its qualitative aspects. It could serve as an important measure for the non-proliferation of nuclear weapons, both vertical and horizontal. It would have a major arms limitation impact in that it would make it difficult, if not impossible, to develop new designs of nuclear weapons and would also place constraints on the modification of existing weapon designs. The permanent cessation of all nuclear-weapon tests has long been sought by the world community and its achievement would be an event of great international significance

Isolated effects of peripheral arm and central body cooling on arm performance.

Science.gov (United States)

Giesbrecht, G G; Wu, M P; White, M D; Johnston, C E; Bristow, G K

1995-10-01

Whole body cooling impairs manual arm performance. The independent contributions of local (peripheral) and/or whole body (central) cooling are not known. Therefore, a protocol was developed in which the arm and the rest of the body could be independently cooled. Biceps temperature (Tmus), at a depth of 20 mm, and esophageal temperature (Tes) were measured. Six subjects were immersed to the clavicles in a tank (body tank) of water under 3 conditions: 1) cold body-cold arm (CB-CA); 2) warm body-cold arm (WB-CA); and 3) cold body-warm arm (CB-WA). In the latter two conditions, subjects placed their dominant arm in a separate (arm) tank. Water temperature (Tw) in each tank was independently controlled. In conditions requiring cold body and/or cold arm, Tw in the appropriate tanks was 8 degrees C. In conditions requiring warm body and/or warm arm, Tw in the appropriate tanks was adjusted between 29 and 38 degrees C to maintain body/arm temperature at baseline values. A battery of 6 tests, requiring fine or gross motor movements, were performed immediately before immersion and after 15, 45, and 70 minutes of immersion. In CB-CA, Tes decreased from an average of 37.2 to 35.6 degrees C and Tmus decreased from 34.6 to 22.0 degrees C. In WB-CA, Tmus decreased to 18.1 degrees C (Tes = 37.1 degrees C), and in CB-WA, Tes decreased to 35.8 degrees C (Tmus = 34.5 degrees C). By the end of immersion, there were significant decrements (43-85%) in the performance of all tests in CB-CA and WB-CA (p body and/or the arm elicits large decrements in finger, hand and arm performance. The decrements are due almost entirely to the local effects of arm tissue cooling.

United States Arms Control and Disarmament Agency. Ninth Annual Report to Congress.

Science.gov (United States)

Arms Control and Disarmament Agency, Washington, DC.

This annual report surveys activities of the Arms Control and Disarmament Agency (ACDA) and summarizes disarmament developments for the calendar year 1968. An act of Congress states that ACDA must have such a position within the Government that it can provide the President, the Secretary of State, other officials of the executive branch, and the…

The implementation of common object request broker architecture (CORBA) for controlling robot arm via web

International Nuclear Information System (INIS)

Syed Mahamad Zuhdi Amin; Mohd Yazid Idris; Wan Mohd Nasir Wan Kadir

2001-01-01

This paper presents the employment of the Common Object Request Broker Architecture (CORBA) technology in the implementation of our distributed Arm Robot Controller (ARC). CORBA is an industrial standard architecture based on distributed abstract object model, which is developed by Object Management Group (OMG). The architecture consists of five components i.e. Object Request Broker (ORB), Interface Definition Language (IDL), Dynamic Invocation Interface (DII), Interface Repositories (IR) and Object adapter (OA). CORBA objects are different from typical programming objects in three ways i.e. they can be executed on any platform, located anywhere on the network and written in any language that supports IDL mapping. In the implementation of the system, 5 degree of freedom (DOF) arm robot RCS 6.0 and Java as a programming mapping to the CORBA IDL. By implementing this architecture, the objects in the server machine can be distributed over the network in order to run the controller. the ultimate goal for our ARC system is to demonstrate concurrent execution of multiple arm robots through multiple instantiations of distributed object components. (Author)

Gaming and Conventional Exercises for Improvement of Arm Function After Stroke: A Randomized Controlled Pilot Study.

Science.gov (United States)

Kottink, Anke I R; Prange, Gerdienke B; Krabben, Thijs; Rietman, Johan S; Buurke, Jaap H

2014-06-01

The use of new technologies in rehabilitation, such as virtual reality and/or computerized gaming exercises, may be useful to enable patients to practice intensively in a motivating way. The objective of the present randomized controlled pilot study was to compare the effect of reach training using a target group specific-designed rehabilitation game to time-matched standardized conventional reach training on arm function after stroke. Twenty chronic stroke patients were randomized to either the rehabilitation game group or the conventional training group. Both groups received three arm training sessions of 30 minutes each week, during a period of 6 weeks. Arm (the upper extremity part of Fugl-Meyer [FM] assessment) and hand (the Action Research Arm [ARA] test) functions were tested 1 week before (T0) and 1 week after (T1) training. A follow-up measurement was performed at 1 month after T1 (T2). ARA and FM scores improved significantly within both groups. Post hoc comparisons revealed significant increases in test scores between T0 and T1 and between T0 and T2 for both ARA and FM, but not for changes from T1 to T2. There were no significant differences between both groups for either clinical test. The present randomized controlled pilot study showed that both arm and hand function improved as much after training with a rehabilitation game as after time-matched conventional training.

Nuclear safeguards control in nuclear power stations

International Nuclear Information System (INIS)

Boedege, R.; Braatz, U.; Heger, H.

1976-01-01

The execution of the Non-Proliferation Treaty (NPT) has initiated a third phase in the efforts taken to ensure peace by limiting the number of atomic powers. In this phase it is important, above all, to turn into workable systems the conditions imposed upon technology by the different provisions of the Verification Agreement of the NPT. This is achieved mainly by elaborating annexes to the Agreement specifically geared to certain model plants, typical representatives selected for LWR power stations being the plants at Garigliano, Italy (BWR), and Stade, Federal Republic of Germany (PWR). The surveillance measures taken to prevent any diversion of special nuclear material for purposes of nuclear weapons manufacture must be effective in achieving their specific objective and must not impede the circumspect management of operations of the plants concerned. A VDEW working party has studied the technical details of the planned surveillance measures in nuclear power stations in the Federal Republic of Germany and now presents a concept of material balancing by units which meets the conditions imposed by the inspection authority and could also be accepted by the operators of nuclear power stations. The concept provides for uninterrupted control of the material balance areas of the nuclear power stations concerned, allows continuous control of the whole nuclear fuel cycle, is based exclusively on existing methods and facilities, and can be implemented at low cost. (orig.) [de

Complete automation of nuclear reactors control

International Nuclear Information System (INIS)

Weill, J.

1955-01-01

The use of nuclear reactor for energy production induces the installation of automatic control systems which need to be safe enough and can adapt to the industrial scale of energy production. These automatic control systems have to insure the constancy of power level and adjust the power produced to the energy demand. Two functioning modes are considered: nuclear plant connected up to other electric production systems as hydraulic or thermic plants or nuclear plants functioning on an independent network. For nuclear plants connected up with other production plants, xenon poisoning and operating cost lead to keep working at maximum power the nuclear reactors. Thus, the power modulation control system will not be considered and only start-up control, safety control, and control systems will be automated. For nuclear power plants working on an independent network, the power modulation control system is needed to economize fuel. It described the automated control system for reactors functioning with constant power: a power measurement system constituted of an ionization chamber and a direct-current amplifier will control the steadfastness of the power produced. For reactors functioning with variable power, the automated power control system will allow to change the power and maintain it steady with all the necessary safety and will control that working conditions under P max and R max (maximum power and maximum reactivity). The effects of temperature and xenon poisoning will also be discussed. Safety systems will be added to stop completely the functioning of the reactor if P max is reached. (M.P.)

Nuclear weapons in Europe

International Nuclear Information System (INIS)

Pierre, A.J.

1984-01-01

In this introduction to ''Nuclear Weapons in Europe'', the author summarized the views of two Americans and two Europeans, whose articles make up the volume. The introduction explains the different assumptions of the four authors before discussing their views on the military and political rationales for a nuclear force in the North Atlantic Treaty Organization (NATO) and the debate over battlefield nuclear weapons, conventional defense, and arms control proposals and talks. The four contributors whose views are analyzed are William G. Hyland, Lawrence D. Freeman, Paul C. Warnke, and Karstan D. Voight. The introduction notes that the agreements and differences do not fall strictly on American versus European dividing lines

Robotic Arm Control Algorithm Based on Stereo Vision Using RoboRealm Vision

Directory of Open Access Journals (Sweden)

SZABO, R.

2015-05-01

Full Text Available The goal of this paper is to present a stereo computer vision algorithm intended to control a robotic arm. Specific points on the robot joints are marked and recognized in the software. Using a dedicated set of mathematic equations, the movement of the robot is continuously computed and monitored with webcams. Positioning error is finally analyzed.

The control of nuclear sector

International Nuclear Information System (INIS)

2007-01-01

The Asn is loaded with the control of the nuclear safety and the radiation protection in France: it provides this control, in the name of the state, to protect the workers, the patients, the public and the environment of the risks in relation with nuclear activities. The control is the core business of Asn. Asn so checks the nuclear basic installations (I.N.B.), since their conception until their dismantling, the pressure equipment specially conceived for these installations, the management of the radioactive waste as well as the transport of radioactive substances. Asn also checks all the industrial and research installations as well as the hospitals where are used ionizing radiations. It is a more recent profession there, because dating the reform of the control of the nuclear power of 2002, which constitutes that of the radiation protection. The first responsibility of the activities at risks falls to the one who begins them. This principle applies to all the sectors checked by Asn: an industrialist is responsible for the safety of the nuclear installations which he exploits, a doctor is responsible for the use of the ionizing radiations which he uses. (N.C.)

The abolition of nuclear weapons: realistic or not? For physicians, a world without nuclear weapons is possible and above all necessary. To abolish, did you say abolish? Is the elimination of the nuclear weapon realistic?

International Nuclear Information System (INIS)

Behar, Abraham; Gere, Francois; Lalanne, Dominique

2010-06-01

In a first article, a physician explains that eliminating nuclear weapons would be a way to get rid of the temptation for some persons to use this arm of massive destruction, and that it would be better for mankind to live without this threat. The author of the second article discusses the effect abolition could have, and, with a reference to President Obama's position about zero nuclear weapons, outlines that it could be at the benefit of peaceful uses of nuclear energy. He also discusses the perspectives of this 'global zero logics' with a new approach to arms control, and comments the relationships between abolition and non proliferation. He finally discusses the reserved attitude of France on these issues. In the next contribution, a nuclear physicist wanders whether the elimination of nuclear weapons is realistic: whereas it has always been a political objective, nuclear states refused to commit themselves in this direction in 2010 and keep on developing military-oriented tools to design new weapons

How to realize a nuclear-free Korean peninsula

International Nuclear Information System (INIS)

Yun, Duk-min

1992-01-01

It is certain that, unless the nuclear issue is solved, there can be no progress in inter-Korean relations. To this end, comprehensive and intrusive mutual inspections of any suspicious sites, as well as IAEA inspections, should certainly be implemented. Once international and bilateral arrangements for nuclear inspection are agreed and implemented to the satisfaction of the parties concerned, this will not only solve the problem of nuclear proliferation, but also lay a firm foundation for greater confidence-building measures on the Korean peninsula. This could also be a valuable example for future arms control in Korea. However, even mutual inspection between the two Koreas cannot necessarily guarantee a nuclear-free Korea. The most effective way to ensure the denuclearization of Korea may be to remove elements that the two Koreas perceive as incentives to go nuclear, in parallel with operating a tight and stable verification regime based on mutual and international inspections. Since the major reasons to go nuclear in Korea are military threats and mutual distrust between the two Koreas, no efforts should be spared to rectify these situations. Therefore, confidence- and security-building measures, including full-scale arms control, must be carried out in order to realize and preserve a nuclear-free Korea. In the long run, the greatest contribution to reducing the threat of nuclear proliferation in the Korean peninsula will be through improving overall relations between South and North Korea

Technical Cybersecurity Controls for Nuclear Facilities

International Nuclear Information System (INIS)

Oh, Jinseok; Ryou, Jaecheol; Kim, Youngmi; Jeong, Choonghei

2014-01-01

To strengthen cybersecurity for nuclear facilities, many countries take a regulatory approach. For example, US Government issued several regulations . Title 10, of the Code of Federal Regulations, Section 73.54, 'Protection of Digital Computer and Communication Systems and Networks (10 CFR 73.54) for cybersecurity requirements and Regulatory Guide 5.71 (RG. 5.71) for cybersecurity guidance and so on. In the case of Korea, Korean Government issued '8.22 Cybersecurity of I and C systems (KINS/RG-NO8.22). In particular, Reg. 5.71 provides a list of security controls to address the potential cyber risks to a nuclear facilities. Implementing and adopting security controls, we can improve the level of cybersecurity for nuclear facilities. RG 5.71 follows the recommendation of NIST SP 800-53. NIST standard provides security controls for IT systems. And NRC staff tailored the controls in NIST standards to unique environments of nuclear facilities. In this paper, we are going to analysis and compare NRC RG 5.71 and NIST SP800-53, in particular, for technical security controls. If RG 5.71 omits the specific security control that is included in SP800-53, we would review that omitting is adequate or not. If RG 5.71 includes the specific security control that is not included in SP800-53, we would also review the rationale. And we are going to some security controls to strengthen cybersecurity of nuclear facilities. In this paper, we compared and analyzed of two regulation in technical security controls. RG 5.71 that is based on NIST standard provides well-understood security controls for nuclear facility. But some omitting from NIST standard can threaten security state of nuclear facility

Technical Cybersecurity Controls for Nuclear Facilities

Energy Technology Data Exchange (ETDEWEB)

Oh, Jinseok; Ryou, Jaecheol [Chungnam National Univ., Daejeon (Korea, Republic of); Kim, Youngmi; Jeong, Choonghei [Korea Institute of Nuclear Safety, Daejeon (Korea, Republic of)

2014-05-15

To strengthen cybersecurity for nuclear facilities, many countries take a regulatory approach. For example, US Government issued several regulations . Title 10, of the Code of Federal Regulations, Section 73.54, 'Protection of Digital Computer and Communication Systems and Networks (10 CFR 73.54) for cybersecurity requirements and Regulatory Guide 5.71 (RG. 5.71) for cybersecurity guidance and so on. In the case of Korea, Korean Government issued '8.22 Cybersecurity of I and C systems (KINS/RG-NO8.22). In particular, Reg. 5.71 provides a list of security controls to address the potential cyber risks to a nuclear facilities. Implementing and adopting security controls, we can improve the level of cybersecurity for nuclear facilities. RG 5.71 follows the recommendation of NIST SP 800-53. NIST standard provides security controls for IT systems. And NRC staff tailored the controls in NIST standards to unique environments of nuclear facilities. In this paper, we are going to analysis and compare NRC RG 5.71 and NIST SP800-53, in particular, for technical security controls. If RG 5.71 omits the specific security control that is included in SP800-53, we would review that omitting is adequate or not. If RG 5.71 includes the specific security control that is not included in SP800-53, we would also review the rationale. And we are going to some security controls to strengthen cybersecurity of nuclear facilities. In this paper, we compared and analyzed of two regulation in technical security controls. RG 5.71 that is based on NIST standard provides well-understood security controls for nuclear facility. But some omitting from NIST standard can threaten security state of nuclear facility.

Scenarios for exercising technical approaches to verified nuclear reductions

International Nuclear Information System (INIS)

Doyle, James

2010-01-01

Presidents Obama and Medvedev in April 2009 committed to a continuing process of step-by-step nuclear arms reductions beyond the new START treaty that was signed April 8, 2010 and to the eventual goal of a world free of nuclear weapons. In addition, the US Nuclear Posture review released April 6, 2010 commits the US to initiate a comprehensive national research and development program to support continued progress toward a world free of nuclear weapons, including expanded work on verification technologies and the development of transparency measures. It is impossible to predict the specific directions that US-RU nuclear arms reductions will take over the 5-10 years. Additional bilateral treaties could be reached requiring effective verification as indicated by statements made by the Obama administration. There could also be transparency agreements or other initiatives (unilateral, bilateral or multilateral) that require monitoring with a standard of verification lower than formal arms control, but still needing to establish confidence to domestic, bilateral and multilateral audiences that declared actions are implemented. The US Nuclear Posture Review and other statements give some indication of the kinds of actions and declarations that may need to be confirmed in a bilateral or multilateral setting. Several new elements of the nuclear arsenals could be directly limited. For example, it is likely that both strategic and nonstrategic nuclear warheads (deployed and in storage), warhead components, and aggregate stocks of such items could be accountable under a future treaty or transparency agreement. In addition, new initiatives or agreements may require the verified dismantlement of a certain number of nuclear warheads over a specified time period. Eventually procedures for confirming the elimination of nuclear warheads, components and fissile materials from military stocks will need to be established. This paper is intended to provide useful background information

The timing of control signals underlying fast point-to-point arm movements.

Science.gov (United States)

Ghafouri, M; Feldman, A G

2001-04-01

It is known that proprioceptive feedback induces muscle activation when the facilitation of appropriate motoneurons exceeds their threshold. In the suprathreshold range, the muscle-reflex system produces torques depending on the position and velocity of the joint segment(s) that the muscle spans. The static component of the torque-position relationship is referred to as the invariant characteristic (IC). According to the equilibrium-point (EP) hypothesis, control systems produce movements by changing the activation thresholds and thus shifting the IC of the appropriate muscles in joint space. This control process upsets the balance between muscle and external torques at the initial limb configuration and, to regain the balance, the limb is forced to establish a new configuration or, if the movement is prevented, a new level of static torques. Taken together, the joint angles and the muscle torques generated at an equilibrium configuration define a single variable called the EP. Thus by shifting the IC, control systems reset the EP. Muscle activation and movement emerge following the EP resetting because of the natural physical tendency of the system to reach equilibrium. Empirical and simulation studies support the notion that the control IC shifts and the resulting EP shifts underlying fast point-to-point arm movements are gradual rather than step-like. However, controversies exist about the duration of these shifts. Some studies suggest that the IC shifts cease with the movement offset. Other studies propose that the IC shifts end early in comparison to the movement duration (approximately, at peak velocity). The purpose of this study was to evaluate the duration of the IC shifts underlying fast point-to-point arm movements. Subjects made fast (hand peak velocity about 1.3 m/s) planar arm movements toward different targets while grasping a handle. Hand forces applied to the handle and shoulder/elbow torques were, respectively, measured from a force sensor placed

Clandestine nuclear trade and the threat of nuclear terrorism

International Nuclear Information System (INIS)

Spector, L.S.

1987-01-01

The nuclear netherworld may ultimately contribute to the danger of nuclear terrorism in at least three ways. First, as national governments exploit this underground market and nuclear weapons spread to additional states, the possibility that terrorists will gain access to them will grow. Such weapons in nuclear threshold countries are likely to be more vulnerable to terrorist seizure than they are in today's more advanced nuclear weapons states. Second, terrorist groups might seek to exploit the nuclear gray market themselves, using the same subterfuges that national governments use. Although in today's nuclear netherworld, subnational groups cannot obtain nuclear arms or nuclear weapons material and cannot hope to build the complex installations needed to produce the latter, they might be able to engage in a form of barter with sympathetic emerging nuclear states (for example, offering raw materials or needed nuclear hardware in return for nuclear weapons material. Finally, there is always the risk that nuclear arms or nuclear weapon materials will someday become available on the nuclear black market. There is evidence indicating that terrorist organizations might well be interested in acquiring such items. Understanding underground nuclear commerce in its current form is essential to prevent such future dangers

Kinematic decomposition and classification of octopus arm movements

OpenAIRE

Zelman, Ido; Titon, Myriam; Yekutieli, Yoram; Hanassy, Shlomi; Hochner, Binyamin; Flash, Tamar

2013-01-01

The octopus arm is a muscular hydrostat and due to its deformable and highly flexible structure it is capable of a rich repertoire of motor behaviors. Its motor control system uses planning principles and control strategies unique to muscular hydrostats. We previously reconstructed a data set of octopus arm movements from records of natural movements using a sequence of 3D curves describing the virtual backbone of arm configurations. Here we describe a novel representation of octopus arm move...

Welcome from INMM (Institute of Nuclear Materials Management)

International Nuclear Information System (INIS)

Satkowiak, L.

2015-01-01

The Institute of Nuclear Materials Management (INMM) is the premier professional society focused on safe and secure use of Nuclear Materials and the related nuclear scientific technology and knowledge. Its international membership includes government, academia, non-governmental organizations and industry, spanning the full spectrum all the way from policy to technology. The Institute's primary role include the promotion of research, the establishment of standards and the development of best practices, all centered around nuclear materials. It then disseminates this information through meetings, professional contacts, reports, papers, discussions, and publications. The formal structure of the INMM includes six technical divisions: Facility Operation; Materials Control and Accountability; Nonproliferation and Arms Control; Nuclear Security and Physical Protection; Packaging, Transportation and Disposition

Development of a mobile manipulator for nuclear plant disaster, HELIOS X. Mechanical design and basic experiments

International Nuclear Information System (INIS)

Noda, Satsuya; Hirose, Shigeo; Ueda, Koji; Nakano, Hisami; Horigome, Atsushi; Endo, Gen

2016-01-01

In places such as nuclear power plant disaster area, which it is difficult for human workers to enter, robots are required to scout those places instead of human workers. In this paper, we present a mobile manipulator HELIOS X for a nuclear plant decommissioning task. Firstly, we address demands and specifications for the robot, considering the mission of reconnaissance. Then we outline the system of the robot, mainly focusing on the following mechanism: 'Crank Wheel', 'Main Arm', 'Sphere Link Wrist', 'Camera Arm', 'Control System' and 'System architecture'. Especially, we installed 3 degree of freedom 'Camera Arm' on the 'Main Arm', in order to improve functionality of remote control system. This enables the operator to monitor both the gripper and its overall view of the robot. 'Camera Arm' helps the operator to recognize the distance from an object to the gripper, because the operator can interactively move the viewpoint of the camera, and monitor from another camera angle without changing the gripper's position. We confirmed the basic functionality of mobile base, 'Main Arm' and 'Camera Arm' through hardware experiments. We also demonstrated that HELIOS X could pass through the pull-to-open door with a substantial closing force when the operator watched camera view only. (author)

Biologically inspired control of humanoid robot arms robust and adaptive approaches

CERN Document Server

Spiers, Adam; Herrmann, Guido

2016-01-01

This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniqu...

Nuclear reactor kinetics and plant control

CERN Document Server

Oka, Yoshiaki

2013-01-01

Understanding time-dependent behaviors of nuclear reactors and the methods of their control is essential to the operation and safety of nuclear power plants. This book provides graduate students, researchers, and engineers in nuclear engineering comprehensive information on both the fundamental theory of nuclear reactor kinetics and control and the state-of-the-art practice in actual plants, as well as the idea of how to bridge the two. The first part focuses on understanding fundamental nuclear kinetics. It introduces delayed neutrons, fission chain reactions, point kinetics theory, reactivit

Autonomous Control of Nuclear Power Plants

Energy Technology Data Exchange (ETDEWEB)

Basher, H.

2003-10-20

A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that may be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors.

Autonomous Control of Nuclear Power Plants

International Nuclear Information System (INIS)

Basher, H.

2003-01-01

A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that may be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors

Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

Directory of Open Access Journals (Sweden)

Ismail Ben Abdallah

2016-01-01

Full Text Available Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case or trajectory generation based on feedback sensors (active robots case. However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE, a developed human-machine-interface (HMI allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.

Bill project related to the struggle against the proliferation of arms of massive destruction and their vectors

International Nuclear Information System (INIS)

2011-01-01

This bill project addresses several issues: the struggle against proliferation of arms of massive destruction (nuclear weapons, nuclear materials, biological weapons, and chemical weapons), the struggle against proliferation of vectors of arms of massive destruction, double-use goods, the use of these weapons and vectors in acts of terrorism

The system of nuclear material control of Kazakhstan

International Nuclear Information System (INIS)

Yeligbayeva, G.Zh.

2001-01-01

Full text: The State system for nuclear material control consists of three integral components. The efficiency of each is to guarantee the non-proliferation regime in Kazakhstan. The components are the following: accounting, export and import control and physical protection of nuclear materials. First, the implementation of the goals of accounting and control bring into force, by the organization of the system for accounting and measurement of nuclear materials to determine present quantity. Organizing the accounting for nuclear material at facilities will ensure the efficiency of accountancy and reporting information. This defines the effectiveness of the state system for the accounting for the Kazakhstan's nuclear materials. Currently, Kazakhstan's nuclear material is fully safeguarded in designated secure locations. Kazakhstan has a nuclear power plant, 4 research reactors and a fuel fabrication plant. The governmental information system for nuclear materials control consist of two level: Governmental level - KAEA collects reports from facilities and prepares the reports for International Atomic Energy Agency, keeping of supporting documents and other necessary information, a data base of export and import, a data base of nuclear material inventory. Facility level - registration and processing information from key measurement points, formation the facility's nuclear materials accounting database. All facilities have computerized systems. Currently, all facilities are safeguarded under IAEA safeguarding standards, through IAEA inspections. Annually, IAEA verifies all nuclear materials at all Kazakhstan nuclear facilities. The government reporting system discloses the existence of all nuclear material and its transfer intended for interaction through the export control system and the nuclear control accounting system. Nuclear material export is regulated by the regulations of the Nuclear Export Control Law. The standard operating procedure is the primary means for

China's nuclear programs and policies

International Nuclear Information System (INIS)

Wang, C.

1983-01-01

Economics and the futility of arms competition with the US and USSR has forced China to shift its nuclear effort to peaceful uses, although its current nuclear-deterrent warrants including China in arms negotiations. China's nuclear program began during the 1950s with an emphasis on weaponry and some development in space technology. Proponents of nuclear power now appear to have refuted the earlier arguments that nuclear-plant construction would be too slow, too dangerous and polluting, and too expensive and the idea that hydro resources would be adequate. The current leadership supports a serious nuclear-power-plant construction program. 6 references

Emergency control centers for nuclear power plants

International Nuclear Information System (INIS)

Anon.

1979-01-01

Guidance is provided for the development and implementation of emergency control centers for nuclear power plants, including nuclear plant control room, nuclear plant company headquarters, emergency control center, and nuclear plant alternate emergency control center. Requirements and recommendations are presented for the mission, communications, instrumentation and equipment associated with each type of control center. Decisional aids, manning requirements and resources are also given; the decision aids cover both the accident assessment and protective action areas. Both normal and alternate means of communications are considered. Off-site emergency control centers, although not covered in the strict sense by this standard, are considered in an appendix

Invisible nuclear; converting nuclear

International Nuclear Information System (INIS)

Park, Jongmoon

1993-03-01

This book consists of 14 chapters which are CNN era and big science, from East and West to North and South, illusory nuclear strategy, UN and nuclear arms reduction, management of armaments, advent of petroleum period, the track of nuclear power generation, view of energy, internationalization of environment, the war over water in the Middle East, influence of radiation and an isotope technology transfer and transfer armament into civilian industry, the end of nuclear period and the nuclear Nonproliferation, national scientific and technological power and political organ and executive organ.

Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

Energy Technology Data Exchange (ETDEWEB)

Pastor, P., E-mail: patrick.pastor@cea.fr [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Villedieu, E.; Allegretti, L.; Vincent, B.; Barbuti, A.; Bruno, V.; Coquillat, P.; Dechelle, C.; Gargiulo, L.; Le, R.; Malard, P.; Martinez, A.; Nouailletas, R. [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Yuntao, Song; Yong, Cheng; Chen, Liu; Hansheng, Feng; Shanshuang, Shi [ASIPP, Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

2015-10-15

Highlights: • We propose an overview of the work which has been done to upgrade the control system of the AIA robot (articulated inspection arm) to fulfill daily operation requirements for tokamak inspection. • The control system is based on the use of new position sensors, new electronics design and new supervisor software. • Final tests are ongoing in the EAST scale 1 tokamak mock-up. Routine operation of the robot at EAST will start in the beginning of 2015. - Abstract: An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

Russia's Nuclear Forces: Between Disarmament and Modernization

International Nuclear Information System (INIS)

Podvig, Pavel

2011-01-01

that relies on strategic nuclear deterrent as a central element of security strategy, regardless of whether nuclear deterrence has any actual role in addressing those problems. The emphasis on strategic stability in the bilateral relationship with the United States was evident in the important role that Russia assigned to the U.S.-Russian arms control negotiations. Resumption of the legally binding arms control process was one of the key elements of the largely successful 'reset' policy pursued by the Obama Administration in its relationships with Russia. Also, during the negotiations Russia strongly emphasized its interest in those issues that it believed might directly affect its deterrent potential - missile defense and conventional strategic launchers. Russia's extremely cautious approach to the next round of nuclear disarmament talks suggests that these issues did not lose their importance after New START - looking at nuclear disarmament in the context of strategic stability, Russia expressed concerns that deep reductions could undermine its nuclear deterrent if, for example, the United States proceeds with deployment of its missile defense system. Whether or not these concerns are justified, they do play an important role in how Russia looks at the future of nuclear disarmament. However, the opposite is true as well - the nuclear disarmament process can change Russia's security policy in a variety of ways by addressing some of its concerns or failing to address others. After the successful conclusion of the New START negotiations, the direction of change in Russia's nuclear policy will depend on how the subsequent dialogue addresses a number of key issues. First, the arms control process will have to reconcile the U.S. and Russian strategic modernization programs with deeper nuclear reductions. In Russia's case this would critically depend on whether the two countries could resolve their differences on missile defense. They would also have to address the issue of

The NPT and nuclear export controls

International Nuclear Information System (INIS)

Berkhout, F.

1992-01-01

Controls on the export of nuclear materials and technology were originally imposed in wartime and under the United States Atomic Energy Act of 1946 to restrict the supply of uranium. But there was no international agreement until the mid 1960s; before that the United States, Canada, France and the Soviet Union imposed export controls on a national basis. The Non-Proliferation Treaty, especially Articles I-IV, set out the first world wide controls on the nuclear trade. These articles are explained in the context of the relevant Committees (the Zangger Committee, the Committee on the Assurance of Supply, the National Export Committee and the Coordinating Committee for Multilateral Export Control) and Guidelines (the Nuclear Suppliers Guidelines and the International Nuclear Fuel Cycle Evaluation). Recent developments which have a bearing on nuclear trade, such as the single European market, the emergence of new supplies and the break-up of the Soviet Union, are considered. (UK)

Non-proliferation of nuclear weapons

International Nuclear Information System (INIS)

Fischer, D.; Haeckel, E.; Haefele, W.; Lauppe, W.D.; Mueller, H.; Ungerer, W.

1991-01-01

During the turbulant transitional events in world politics in the nineties, the control of nuclear weapons plays a major role. While the superpowers are reducing their nuclear arsenal, the danger of nuclear anarchy in the world remains virulent. The NPT of 1968 is up for review soon. The falling apart of the former communist sphere of power, and the regions of conflict in the Third World present new risks for the proliferation of nuclear arms. For unified Germany, which explicitly renounced nuclear weapons, this situation presents difficult questions concerning national safety policies and international responsibility. This volume presents contributions which take a new look at topical and long-term problems of nuclear NP politics. The authors evaluate the conditions under which the NP regime came into being, and assess short- and long-term possibilities and risks. The following papers are included: 1.) Basic controversies during the negotiations concerning the Treaty on non-proliferation of nuclear weapons (Ungerer); 2.) Prologation of the NPT 1995 and appropriate problems concerning safety and control (Haefele/Lauppe); 3.) Consequences of the Iraq case for NP policy (Ficher); 4.) Problems of nuclear technology control (Mueller); 5.) Framework conditions of a nuclear world system (Haeckel). (orig./HP) [de

The nonproliferation treaty and peaceful uses of nuclear explosives

Energy Technology Data Exchange (ETDEWEB)

Ehrlich, Thomas [School of Law, Stanford University, CA (United States)

1970-05-01

In the past, nuclear arms control and peaceful uses of nuclear explosives were seen by many proponents of each as competing - if not opposing - interests. At one extreme, some viewed peaceful uses as an annoying irritant on the way to general and complete disarmament. At the other extreme, some considered arms-control arrangements - particularly those limiting nuclear testing - as bothersome barriers to realizing the full benefits of peaceful nuclear explosions. Most people found themselves somewhere between those extremes. But most also felt a continuing tension between essentially opposing forces. This polarity has been significantly altered by the 1968 Treaty on the Nonproliferation of Nuclear Weapons. It is believed that the future use of nuclear explosives for peaceful purposes will depend in large measure on the international arrangements worked out under the treaty. I also believe that the success of the treaty in checking proliferation of nuclear weapons is contingent, in substantial part, on those peaceful-uses arrangements. In the areas covered by the treaty, therefore, one could view an active development of peaceful uses for nuclear explosives as complementing rather than conflicting with nuclear arms control. The treaty is primarily a security agreement. It is aimed at reducing the risk of nuclear war by establishing permanency in the current separation of nuclear-weapon and non-nuclear-weapon nations. By its terms, each nuclear-weapon state agrees not to transfer nuclear weapons or other nuclear explosive devices to any recipient, and each non-nuclear-weapon state agrees not to receive such weapons or devices. The non-nuclear- weapon parties are also obligated to negotiate safeguards agreements with the International Atomic Energy Agency covering peaceful-uses activities. And all signatories agree not to transfer fissionable material to those parties unless they are subject to such agreements. These provisions are all part of a scheme to limit the

The nonproliferation treaty and peaceful uses of nuclear explosives

International Nuclear Information System (INIS)

Ehrlich, Thomas

1970-01-01

In the past, nuclear arms control and peaceful uses of nuclear explosives were seen by many proponents of each as competing - if not opposing - interests. At one extreme, some viewed peaceful uses as an annoying irritant on the way to general and complete disarmament. At the other extreme, some considered arms-control arrangements - particularly those limiting nuclear testing - as bothersome barriers to realizing the full benefits of peaceful nuclear explosions. Most people found themselves somewhere between those extremes. But most also felt a continuing tension between essentially opposing forces. This polarity has been significantly altered by the 1968 Treaty on the Nonproliferation of Nuclear Weapons. It is believed that the future use of nuclear explosives for peaceful purposes will depend in large measure on the international arrangements worked out under the treaty. I also believe that the success of the treaty in checking proliferation of nuclear weapons is contingent, in substantial part, on those peaceful-uses arrangements. In the areas covered by the treaty, therefore, one could view an active development of peaceful uses for nuclear explosives as complementing rather than conflicting with nuclear arms control. The treaty is primarily a security agreement. It is aimed at reducing the risk of nuclear war by establishing permanency in the current separation of nuclear-weapon and non-nuclear-weapon nations. By its terms, each nuclear-weapon state agrees not to transfer nuclear weapons or other nuclear explosive devices to any recipient, and each non-nuclear-weapon state agrees not to receive such weapons or devices. The non-nuclear- weapon parties are also obligated to negotiate safeguards agreements with the International Atomic Energy Agency covering peaceful-uses activities. And all signatories agree not to transfer fissionable material to those parties unless they are subject to such agreements. These provisions are all part of a scheme to limit the

Energy/war: breaking the nuclear link

International Nuclear Information System (INIS)

Lovins, A.B.; Lovins, L.H.

1980-01-01

Policies to control the spread of nuclear weapons have assumed that the rapid worldwide spread of nuclear power is essential to replace oil, is both economically desirable and inevitable, and that the international political order must remain inherently discriminatory and dominated by the nuclear arms race. These assumptions are challenged as contrary to economic fact and market behavior. The authors feel that the link between nuclear reactors and nuclear bombs is inextricable, making proliferation inevitable and nuclear power a dangerous and costly alternative to oil. Instead, they suggest that nuclear power will collapse in response to market forces because only a few centrally-planned economies can override economic pressures. Acknowledgement of this collapse should be encouraged and the benefits of nuclear power accepted as illusory, according to the authors. 349 references, 2 figures

Nuclear policies in Northeast Asia

International Nuclear Information System (INIS)

Mack, A.

1995-01-01

In Northeast Asia, states have tried to enhance their security through unilateral means rather than cooperative ones. In this area, there is no regional multilateral security dialogue of significance. In the nuclear age, security is not something to be built for oneself irrespective of others. Security is something to be built together with one's opponents. The arms build-up in Northeast Asia is very substantial. Defence budgets are growing almost as fast as are the national economies. Still, there is no arms race, i.e. no interacting patterns of arms acquisitions and force deployments. There is a real risk, however, that the arms build-up might spill over into an arms race. Hence the case for cooperative policies - for confidence-building measures and arms control in particular - to prevent this from happening. The end of the Cold War has brought about profound changes in the international political and economic environment. There is a noticeable tendency towards political reconciliation and cooperation among states and an increasing interdependence and globalization. On the other hand, one cannot miss some worrisome phenomena, including the resurgence of nationalism, the multiplication of ethnic conflicts and the dangers associated with the proliferation of weapons of mass destruction. This is particularly true of the Northeast Asian region. Although some changes in the regional security outlook are favourable, there are also sources of insecurity and uncertainty in Northeast Asia, not least being the disturbing trend towards a regional arms build-up. In today's Northeast Asia weapons proliferation is a source of growing concern. The major purpose of this volume is to provide a comprehensive analysis of the dimensions of the various nuclear problems and their interrelationships in Northeast Asia. A second purpose is to explore practical approaches to regional non-proliferation, to see how they may be strengthened and made mutually supportive of the global non

Nuclear weapons in Europe: Why zero is better

International Nuclear Information System (INIS)

Daalder, I.H.

1993-01-01

Given the fundamental changes in the political context and NATO's perception of nuclear weapons, what role remains for US nuclear weapons in preserving security in Europe? Are US nuclear deployments on the continent still necessary? Is there a requirement for extended deterrence and, if so, does its credibility depend on the continued basing of US nuclear weapons in Europe? And what is the role of arms control in effecting any desirable restructuring in nuclear force postures? In addressing these questions, it becomes clear that US nuclear weapons can now be removed from Europe - they no longer serve the political and military functions they once did

Controlled synthesis of multi-arm star polyether-polycarbonate polyols based on propylene oxide and CO2.

Science.gov (United States)

Hilf, Jeannette; Schulze, Patricia; Seiwert, Jan; Frey, Holger

2014-01-01

Multi-arm star copolymers based on a hyperbranched poly(propylene oxide) polyether-polyol (hbPPO) as a core and poly(propylene carbonate) (PPC) arms are synthesized in two steps from propylene oxide (PO), a small amount of glycidol and CO2 . The PPC arms are prepared via carbon dioxide (CO2 )/PO copolymerization, using hbPPO as a multifunctional macroinitiator and the (R,R)-(salcy)CoOBzF5 catalyst. Star copolymers with 14 and 28 PPC arms, respectively, and controlled molecular weights in the range of 2700-8800 g mol(-1) are prepared (Mw /Mn = 1.23-1.61). Thermal analysis reveals lowered glass transition temperatures in the range of -8 to 10 °C for the PPC star polymers compared with linear PPC, which is due to the influence of the flexible polyether core. Successful conversion of the terminal hydroxyl groups with phenylisocyanate demonstrates the potential of the polycarbonate polyols for polyurethane synthesis. © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

The Development of light-weight 2-link robot arm for high radiation area

Energy Technology Data Exchange (ETDEWEB)

Shin, Ho Cheol; Seo, Yong Chil; Jung, Kyung Min; Choi, Young Soo

2009-10-15

A light-weight 2-link robot arm which weight is less than 8kg was developed for treating the small radio-active material in the high radiation area such as nuclear power plants and NDT area. The light-weight 2-link robot arm can be attached on a small mobile robot and carry out tasks. It is a 5 DOF robot arm including a gripper

Two-dimensional myoelectric control of a robotic arm for upper limb amputees

International Nuclear Information System (INIS)

Lopez Celani, Natalia M; Soria, Carlos M; Orosco, Eugenio C; Di Sciascio, Fernando A; Valentinuzzi, Max E

2007-01-01

Rehabilitation engineering and medicine have become integral and significant parts of health care services, particularly and unfortunately in the last three or four decades, because of wars, terrorism and large number of car accidents. Amputees show a high rate of rejection to wear prosthetic devices, often because of lack of an adequate period of adaptation. A robotic arm may appear as a good preliminary stage. To test the hypothesis, myoelectric signals from two upper limb amputees and from four normal volunteers were fed, via adequate electronic conditioning and using MATLAB, to an industrial robotic arm. Proportional strength control was used for two degrees of freedom (x-y plane) by means of eight signal features of control (four traditional statistics plus energy, integral of the absolute value, Willison's amplitude, waveform length and envelope) for comparison purposes, and selecting the best of them as final reference. Patients easily accepted the system and learned in short time how to operate it. Results were encouraging so that valuable training, before prosthesis is implanted, appears as good feedback; besides, these patients can be hired as specialized operators in semi-automatized industry

Two-dimensional myoelectric control of a robotic arm for upper limb amputees

Science.gov (United States)

López Celani, Natalia M.; Soria, Carlos M.; Orosco, Eugenio C.; di Sciascio, Fernando A.; Valentinuzzi, Max E.

2007-11-01

Rehabilitation engineering and medicine have become integral and significant parts of health care services, particularly and unfortunately in the last three or four decades, because of wars, terrorism and large number of car accidents. Amputees show a high rate of rejection to wear prosthetic devices, often because of lack of an adequate period of adaptation. A robotic arm may appear as a good preliminary stage. To test the hypothesis, myoelectric signals from two upper limb amputees and from four normal volunteers were fed, via adequate electronic conditioning and using MATLAB, to an industrial robotic arm. Proportional strength control was used for two degrees of freedom (x-y plane) by means of eight signal features of control (four traditional statistics plus energy, integral of the absolute value, Willison's amplitude, waveform length and envelope) for comparison purposes, and selecting the best of them as final reference. Patients easily accepted the system and learned in short time how to operate it. Results were encouraging so that valuable training, before prosthesis is implanted, appears as good feedback; besides, these patients can be hired as specialized operators in semi-automatized industry.

Control rod drive of nuclear reactor

International Nuclear Information System (INIS)

Zhuchkov, I.I.; Gorjunov, V.S.; Zaitsev, B.I.

1980-01-01

This invention relates to nuclear reactors and, more particularly, to a drive of a control rod of a nuclear reactor and allows power control, excess reactivity compensation, and emergency shut-down of a reactor. (author)

Language and the nuclear arms debate: Nukespeak today

Energy Technology Data Exchange (ETDEWEB)

1985-01-01

This book presents papers on the political, cultural and ethical aspects of nuclear weapons. Topics considered include language and ideology, the pragmatics of speeches against the peace movement in Britain, the rhetoric of national defense in the US, pro-nuclear arguments, nuclear deterrence, the media's coverage of anti-nuclear demonstrations, news reports, an analysis of the television film The Day After, nuclear disarmament, an analysis of anti-nuclear humor, psychological models, and sociological models.

The control of nuclear sector; Le controle du nucleaire

Energy Technology Data Exchange (ETDEWEB)

NONE

2007-07-01

The Asn is loaded with the control of the nuclear safety and the radiation protection in France: it provides this control, in the name of the state, to protect the workers, the patients, the public and the environment of the risks in relation with nuclear activities. The control is the core business of Asn. Asn so checks the nuclear basic installations (I.N.B.), since their conception until their dismantling, the pressure equipment specially conceived for these installations, the management of the radioactive waste as well as the transport of radioactive substances. Asn also checks all the industrial and research installations as well as the hospitals where are used ionizing radiations. It is a more recent profession there, because dating the reform of the control of the nuclear power of 2002, which constitutes that of the radiation protection. The first responsibility of the activities at risks falls to the one who begins them. This principle applies to all the sectors checked by Asn: an industrialist is responsible for the safety of the nuclear installations which he exploits, a doctor is responsible for the use of the ionizing radiations which he uses. (N.C.)

International law and arms control: Soviet Union and Russia’s stance on nuclear test ban treaties

Directory of Open Access Journals (Sweden)

Renata Hessmann Dalaqua

2013-12-01

Full Text Available The long-lasting struggle against nuclear tests can be examined through different perspectives. In this paper, the focus will be on the part played by the USSR and Russia in the international efforts aimed at establishing legal instruments to outlaw nuclear explosions in space, underground, under water and in the atmosphere.  A luta contra os testes nucleares pode ser examinada sob diferentes perspectivas. Aqui, o foco recairá sobre o papel desempenhado pela União Soviética e Rússia na criação de instrumentos legais para proibir explosões nucleares no espaço, no subsolo, debaixo da água e na atmosfera.

Fuzzy logic control of nuclear power plant

International Nuclear Information System (INIS)

Yao Liangzhong; Guo Renjun; Ma Changwen

1996-01-01

The main advantage of the fuzzy logic control is that the method does not require a detailed mathematical model of the object to be controlled. In this paper, the shortcomings and limitations of the model-based method in nuclear power plant control were presented, the theory of the fuzzy logic control was briefly introduced, and the applications of the fuzzy logic control technology in nuclear power plant controls were surveyed. Finally, the problems to be solved by using the fuzzy logic control in nuclear power plants were discussed

Virtual nuclear weapons

Energy Technology Data Exchange (ETDEWEB)

Pilat, J.F.

1997-08-01

The term virtual nuclear weapons proliferation and arsenals, as opposed to actual weapons and arsenals, has entered in recent years the American lexicon of nuclear strategy, arms control, and nonproliferation. While the term seems to have an intuitive appeal, largely due to its cyberspace imagery, its current use is still vague and loose. The author believes, however, that if the term is clearly delineated, it might offer a promising approach to conceptualizing certain current problems of proliferation. The first use is in a reference to an old problem that has resurfaced recently: the problem of growing availability of weapon-usable nuclear materials in civilian nuclear programs along with materials made `excess` to defense needs by current arms reduction and dismantlement. It is argued that the availability of these vast materials, either by declared nuclear-weapon states or by technologically advanced nonweapon states, makes it possible for those states to rapidly assemble and deploy nuclear weapons. The second use has quite a different set of connotations. It is derived conceptually from the imagery of computer-generated reality. In this use, one thinks of virtual proliferation and arsenals not in terms of the physical hardware required to make the bomb but rather in terms of the knowledge/experience required to design, assemble, and deploy the arsenal. Virtual weapons are a physics reality and cannot be ignored in a world where knowledge, experience, materials, and other requirements to make nuclear weapons are widespread, and where dramatic army reductions and, in some cases, disarmament are realities. These concepts are useful in defining a continuum of virtual capabilities, ranging from those at the low end that derive from general technology diffusion and the existence of nuclear energy programs to those at the high end that involve conscious decisions to develop or maintain militarily significant nuclear-weapon capabilities.

Introduction to Special Edition (of the Journal of Nuclear Materials Management) on Reducing the Threat from Radioactive Materials

International Nuclear Information System (INIS)

Mladineo, Stephen V.

2007-01-01

Introductory article for special edition of the JOURNAL OF NUCLEAR MATERIALS MANAGEMENT outlining the Institute of Nuclear Materials Management Nonproliferation and Arms Control Technical Division. In particular the International Nuclear and Radiological Security Standing Committee and its initial focus covering four topical areas--Radiological Threat Reduction, Nuclear Smuggling and Illicit Trafficking, Countering Nuclear Terrorism, and Radiological Terrorism Consequence Management

Electromotor control rod drive for nuclear reactors

International Nuclear Information System (INIS)

Baker, S.M.

1975-01-01

The positioning of a control rod arranged in a pressure vessel takes place with a drive. This protrudes out of the pressure vessel through a support and is formed from a rotating field motor with energy source, e.g. alternating current connection. Its stator surrounds a section of a pressure casing which covers the length of the drive. The rotor is arranged in the pressure casing and interacts with a shaft lying in the rotation axis. Furthermore, segments are hinged on it, each of which forms two arms of a rocker. Each segment can be revolved against a storing force in a plane containing the rotation axis, through the stator field acting on one of the rocker arms. In order that the drive motor is automatically blocked should the electricity supply fail, the other rocker arm can be connected with a fixed cased component of the drive having the effect of a friction break or a form-locking mechanical catch. (DG/LH) [de

Performance and Usability of Various Robotic Arm Control Modes from Human Force Signals

Directory of Open Access Journals (Sweden)

Sébastien Mick

2017-10-01

Full Text Available Elaborating an efficient and usable mapping between input commands and output movements is still a key challenge for the design of robotic arm prostheses. In order to address this issue, we present and compare three different control modes, by assessing them in terms of performance as well as general usability. Using an isometric force transducer as the command device, these modes convert the force input signal into either a position or a velocity vector, whose magnitude is linearly or quadratically related to force input magnitude. With the robotic arm from the open source 3D-printed Poppy Humanoid platform simulating a mobile prosthesis, an experiment was carried out with eighteen able-bodied subjects performing a 3-D target-reaching task using each of the three modes. The subjects were given questionnaires to evaluate the quality of their experience with each mode, providing an assessment of their global usability in the context of the task. According to performance metrics and questionnaire results, velocity control modes were found to perform better than position control mode in terms of accuracy and quality of control as well as user satisfaction and comfort. Subjects also seemed to favor quadratic velocity control over linear (proportional velocity control, even if these two modes did not clearly distinguish from one another when it comes to performance and usability assessment. These results highlight the need to take into account user experience as one of the key criteria for the design of control modes intended to operate limb prostheses.

Intelligent Home Control System Based on ARM10

Science.gov (United States)

Chen, G. X.; Jiang, J.; Zhong, L. H.

2017-10-01

Intelligent home is becoming the hot spot of social attention in the 21st century. When it is in China, it is a really new industry. However, there is no doubt that Intelligent home will become a new economic growth point of social development; it will change the life-style of human being. To develop the intelligent home, we should keep up with the development trend of technology. This is the reason why I talk about the intelligent home control system here. In this paper, intelligent home control system is designed for alarm and remote control on gas- leaking, fire disaster, earthquake prediction, etc., by examining environmental changes around house. When the Intelligent home control system has detected an accident occurs, the processor will communicate with the GSM module, informing the house keeper the occurrence of accident. User can receive and send the message to the system to cut the power by mobile phone. The system can get access to DCCthrough ARM10 JTAG interface, using DCC to send and receive messages. At the same time, the debugger on the host is mainly used to receive the user’s command and send it to the debug component in the target system. The data that returned from the target system is received and displayed to the user in a certain format.

Compensation for loads during arm movements using equilibrium-point control.

Science.gov (United States)

Gribble, P L; Ostry, D J

2000-12-01

A significant problem in motor control is how information about movement error is used to modify control signals to achieve desired performance. A potential source of movement error and one that is readily controllable experimentally relates to limb dynamics and associated movement-dependent loads. In this paper, we have used a position control model to examine changes to control signals for arm movements in the context of movement-dependent loads. In the model, based on the equilibrium-point hypothesis, equilibrium shifts are adjusted directly in proportion to the positional error between desired and actual movements. The model is used to simulate multi-joint movements in the presence of both "internal" loads due to joint interaction torques, and externally applied loads resulting from velocity-dependent force fields. In both cases it is shown that the model can achieve close correspondence to empirical data using a simple linear adaptation procedure. An important feature of the model is that it achieves compensation for loads during movement without the need for either coordinate transformations between positional error and associated corrective forces, or inverse dynamics calculations.

In defiance of nuclear deterrence: anti-nuclear New Zealand after two decades.

Science.gov (United States)

Reitzig, Andreas

2006-01-01

In 1984, nuclear-armed and nuclear-powered vessels were banned from New Zealand to express the country's rejection of the nuclear deterrence concept. This led to a disagreement with the United States. Today, the ban on nuclear-powered ships is the only element of the nuclear-free legislation that still strains US-New Zealand relations. This article presents the reasons for the ban on nuclear-powered ships, which include scientific safety concerns, a symbolic rejection of the nuclear deterrence posture, and patriotic factors such as a nuclear-free national identity. The military and economic consequences of the ban are also examined. Since the ban on nuclear-powered vessels appears to be neither widely known abroad nor commonly recognised as a supportive disarmament measure outside New Zealand, it is concluded that whatever the future of this ban will be, New Zealand's anti-nuclear image will remain known internationally through the ban on nuclear arms.

Technical supports for nuclear control

Energy Technology Data Exchange (ETDEWEB)

An, Jong Sung; Kwak, Eun Hoh; Noh, Sung Kee; Soh, Dong Sub; Yoon, Wan Kee; Shin, Jang Soo; Paek, Dae Hyun; Park, Wan Soo; Kim, Hyun Tae; Park, Chan Sik; Cha, Hong Yul; Choi, Yoon Dong; Park, Jin Hoh; Lee, Eui Jin; An, Jin Soo; Kim, Jong Heui [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

1994-12-01

The project was carried out to support the establishment of the system of accountancy and control of nuclear materials in Korea. The training of inspectors and seminar were held to improve inspection capability of the nuclear inspectors. The information about the north Korean nuclear activities were successfully analyzed. In the drafts of nuclear energy law the national inspection and the regulation of physical protection were newly introduced for the purpose to clarify the openness of nuclear activities in Korea. 1 fig, 20 tabs, 19 refs. (Author).

Challenges to nuclear export controls today

International Nuclear Information System (INIS)

Chatelus, R.; Sevini, F.; Janssens, W.; Michel, Q.

2014-01-01

Nuclear energy and nuclear proliferation programs are potentially inter-twinned, which is a point to be taken into account when analysing the development of civil nuclear energy, both domestically and as foreign investment. International agreements ensure that the adhering countries fulfil their obligations and do not abuse civil nuclear programs for the production of nuclear weapons. Uranium enrichment is the process currently most focused on in this respect by recent news and recent technological and commercial developments. But also the so-called reactor-based pathway, with extraction of plutonium from spent nuclear fuel by reprocessing remains in the spotlight of inspectors. Two of the main and complementary pillars on which the prevention of such diversion relies, are Strategic Export Control and International Safeguards. Strategic export control is a key barrier against nuclear proliferation. In many countries including the EU, it is set by a legal framework, envisaging implementation, enforcement and prosecution. The goods that can exported only with authorisations are those identified by the international export control regimes; primarily the Nuclear Suppliers Group in the case of nuclear items. It is complemented by nuclear safeguards measures, and especially in the past few years, by the IAEA State Level concept, which looks at the overall country's potential, including its industrial structure to derive conclusions on the absence of undeclared activities. However, the strict control of goods and knowledge is a moving target, since technological developments, globalisation and the intensifying exchange of information via the worldwide web offer increasing opportunities to proliferators to acquire sensitive items and competencies, and create bigger challenges to enforcement, calling for new responses. Research and development programmes must be directed towards supporting the adaptation of current proliferation containment systems to these new

Hardware design of HIRFL-CSR EVMEbus controller based on ARM920T

International Nuclear Information System (INIS)

Jing Lan; Qian Weimin; Xu Yang; Ji Peng; Liu Caihong; Ma Yunhai

2006-01-01

The HIRFL-CSR EVMEbus controller is developed in IMP. The controller is based on AT91RM9200 (ARM9) microprocessor, which is in 0.8 mm BGA package. The controller runs LINUX OS, and can connect with standard VGA display, keyboard, and mouse. There are 10 M/100 M Ethernet, USB, RS-232, RS-485 and CANBUS interfaces on the board. Itr supports storage devices SD Card and CF Card. The backboard interface logic is programmed in VHDL and is programmed into an in-system configurable FPGA device. The bus can drive high current up to 64 mA. It is not only compliant to VME specification, but also has flexibility of the programmable signal definition. Being a key module in HIRFL-CSR control system, the controller can be used as a local controller and also a remote gateway controller. (authors)

Nuclear Data Story - at ND2016: Tackling the Challenges of Nuclear Data in the Future

International Nuclear Information System (INIS)

Busch, Theresa

2017-01-01

International experts came together from 11 to 16 September 2016 to participate in the International Conference on Nuclear Data for Science and Technology, held in Bruges, Belgium. The conference was organised by the Joint Research Centre of the European Commission in Geel in cooperation with the Nuclear Energy Agency (NEA) and the International Atomic Energy Agency (IAEA). It is part of a series of conferences which started in 1978 in Harwell, UK and are organised every three years under the patronage of the Nuclear Energy Agency of the Organisation for Economic Cooperation and Development (OECD-NEA). Nuclear data is used to characterize nuclear physics processes in a wide range of applications such as fundamental nuclear physics, fusion research and development, astrophysics, nuclear energy, nuclear medicine, nuclear non-proliferation, safeguards and arms control. The International Conference on Nuclear Data aims to present and discuss all aspects related with the production and use of nuclear data in those fields.

Croatian National System of Nuclear Materials Control

International Nuclear Information System (INIS)

Biscan, R.

1998-01-01

In the process of economic and technological development of Croatia by using or introducing nuclear power or in the case of international co-operation in the field of peaceful nuclear activities, including international exchange of nuclear material, Croatia should establish and implement National System of Nuclear Materials Control. Croatian National System of accounting for and control of all nuclear material will be subjected to safeguards under requirements of Agreement and Additional Protocol between the Republic of Croatia and the International Atomic Energy Agency (IAEA) for the Application of Safeguards in Connection with the Treaty on the Non-Proliferation of Nuclear Weapons (NPT). The decision by NPT parties at the 1995 NPT Review and Extension Conference to endorse the Fullscope IAEA Safeguards Standard (FSS) as a necessary precondition of nuclear supply means that states are obliged to ensure that the recipient country has a FSS agreement in place before any nuclear transfer can take place (Ref. 1). The FSS standard of nuclear supply is a central element of the Nuclear Suppliers Group (NSG) Guidelines which the NSG adopted in 1992 and should be applied to members and non-members of the NSG. The FSS standard of nuclear supply in general allows for NPT parties or countries which have undertaken the same obligations through other treaty arrangements, to receive favourable treatment in nuclear supply arrangements. However, the Iraqi experience demonstrate that trade in nuclear and dual-use items, if not properly monitored, can contribute to a nuclear weapons program in countries acting contrary to their non-proliferation obligation. Multilateral nuclear export control mechanisms, including the FSS supply standard, provide the basis for co-ordination and standardisation of export control measures. (author)

Global nuclear material flow/control model

International Nuclear Information System (INIS)

Dreicer, J.S.; Rutherford, D.S.; Fasel, P.K.; Riese, J.M.

1997-01-01

This is the final report of a two-year, Laboratory Directed Research and Development (LDRD) project at the Los Alamos National Laboratory (LANL). The nuclear danger can be reduced by a system for global management, protection, control, and accounting as part of an international regime for nuclear materials. The development of an international fissile material management and control regime requires conceptual research supported by an analytical and modeling tool which treats the nuclear fuel cycle as a complete system. The prototype model developed visually represents the fundamental data, information, and capabilities related to the nuclear fuel cycle in a framework supportive of national or an international perspective. This includes an assessment of the global distribution of military and civilian fissile material inventories, a representation of the proliferation pertinent physical processes, facility specific geographic identification, and the capability to estimate resource requirements for the management and control of nuclear material. The model establishes the foundation for evaluating the global production, disposition, and safeguards and security requirements for fissile nuclear material and supports the development of other pertinent algorithmic capabilities necessary to undertake further global nuclear material related studies

78 FR 38739 - Special Nuclear Material Control and Accounting Systems for Nuclear Power Plants

Science.gov (United States)

2013-06-27

... Systems for Nuclear Power Plants AGENCY: Nuclear Regulatory Commission. ACTION: Regulatory guide; issuance... Guide (RG) 5.29, ``Special Nuclear Material Control and Accounting Systems for Nuclear Power Plants... material control and accounting. This guide applies to all nuclear power plants. ADDRESSES: Please refer to...

10 CFR 74.51 - Nuclear material control and accounting for strategic special nuclear material.

Science.gov (United States)

2010-01-01

... 10 Energy 2 2010-01-01 2010-01-01 false Nuclear material control and accounting for strategic special nuclear material. 74.51 Section 74.51 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) MATERIAL CONTROL AND ACCOUNTING OF SPECIAL NUCLEAR MATERIAL Formula Quantities of Strategic Special Nuclear...

Red lights flash in nuclear arms race

International Nuclear Information System (INIS)

Anon.

1977-01-01

This article discusses the main objections of South Africa - and other countries - to the Treaty on Non-Proliferation of Nuclear Weapons (NPT) which was opened for signature in 1968. The Kremlin has recently claimed that South Africa is about to explode a nuclear bomb in spite of the fact that South Africa has been relying on the American Energy and Research Development Agency to honour its contract to provide a few kilograms of enriched uranium to start up Koeberg A and also a little plutonium for the research reactors of Safari 1, which is open to full international scrutiny and safeguards. The article considers the amount of nuclear materials which will have been produced by 1980, and what this could mean in terms of nuclear weapons

Manual input device for controlling a robot arm

International Nuclear Information System (INIS)

Fischer, P.J.; Siva, K.V.

1990-01-01

A six-axis input device, eg joystick, is supported by a mechanism which enables the joystick to be aligned with any desired orientation, eg parallel to the tool. The mechanism can then be locked to provide a rigid support of the joystick. The mechanism may include three pivotal joints whose axes are perpendicular, each incorporating a clutch. The clutches may be electromagnetic or mechanical and may be operable jointly or independently. The robot arm comprises a base rotatable about a vertical axis, an upper arm, a forearm and a tool or grip rotatable about three perpendicular axes relative to the forearm. (author)

Simulation of Octopus Arm Based on Coupled CPGs

Directory of Open Access Journals (Sweden)

Juan Tian

2015-01-01

Full Text Available The octopus arm has attracted many researchers’ interests and became a research hot spot because of its amazing features. Several dynamic models inspired by an octopus arm are presented to realize the structure with a large number of degrees of freedom. The octopus arm is made of a soft material introducing high-dimensionality, nonlinearity, and elasticity, which makes the octopus arm difficult to control. In this paper, three coupled central pattern generators (CPGs are built and a 2-dimensional dynamic model of the octopus arm is presented to explore possible strategies of the octopus movement control. And the CPGs’ signals treated as activation are added on the ventral, dorsal, and transversal sides, respectively. The effects of the octopus arm are discussed when the parameters of the CPGs are changed. Simulations show that the octopus arm movements are mainly determined by the shapes of three CPGs’ phase diagrams. Therefore, some locomotion modes are supposed to be embedded in the neuromuscular system of the octopus arm. And the octopus arm movements can be achieved by modulating the parameters of the CPGs. The results are beneficial for researchers to understand the octopus movement further.

Assembly factors for the membrane arm of human complex I.

Science.gov (United States)

Andrews, Byron; Carroll, Joe; Ding, Shujing; Fearnley, Ian M; Walker, John E

2013-11-19

Mitochondrial respiratory complex I is a product of both the nuclear and mitochondrial genomes. The integration of seven subunits encoded in mitochondrial DNA into the inner membrane, their association with 14 nuclear-encoded membrane subunits, the construction of the extrinsic arm from 23 additional nuclear-encoded proteins, iron-sulfur clusters, and flavin mononucleotide cofactor require the participation of assembly factors. Some are intrinsic to the complex, whereas others participate transiently. The suppression of the expression of the NDUFA11 subunit of complex I disrupted the assembly of the complex, and subcomplexes with masses of 550 and 815 kDa accumulated. Eight of the known extrinsic assembly factors plus a hydrophobic protein, C3orf1, were associated with the subcomplexes. The characteristics of C3orf1, of another assembly factor, TMEM126B, and of NDUFA11 suggest that they all participate in constructing the membrane arm of complex I.

Canadians, nuclear weapons, and the Cold War security dilemma

International Nuclear Information System (INIS)

Eaton, M.A.

2007-01-01

This dissertation provides a history of Canadian ideas about nuclear weapons from the late 1950s until the end of the Trudeau era in 1984. Throughout this period, Canadians reacted to the insecurity they felt in the world around them by expressing many conflicting, often irreconcilable views about a range of nuclear weapon issues, including Canada's acquisition of nuclear warheads in 1963, the U.S. ABM program in the 1960s and early 1970s, the role of Canadian nuclear technology in the development of India's first nuclear explosion, and the Trudeau government's decision to allow the U.S. military to test cruise missiles in northern Canada The dissertation concludes with an examination of the emergence of a broadly-based, increasingly mainstream and influential anti-nuclear movement in the early 1980s, the clearest manifestation of the insecurity Canadians experienced at the time. .The nuclear debates examined in this dissertation reveal that Canadians were divided over nuclear weapons, nuclear strategy, the arms race, proliferation, and arms control and disarmament. In particular, they came to fundamentally different conclusions about how Canada's nuclear weapon policies, and its support for the nuclear policies of its alliances, would contribute to international stability and order. Some believed that their security rested on the maintenance of a strong Western nuclear deterrent and supported Canada contributing to its credibility; others believed that the constant modernisation of nuclear arsenals fuelled by the superpower arms race posed a serious threat to their security. This conceptual dilemma-the security through nuclear strength argument versus the fear that the quest for security through quantitative and qualitative improvements of nuclear stockpiles increased the likelihood of nuclear war-left Canadians divided over the value and utility of nuclear weapons and the strategies developed around them. At the same time, Canadians' ideas about nuclear weapons

Canadians, nuclear weapons, and the Cold War security dilemma

Energy Technology Data Exchange (ETDEWEB)

Eaton, M.A

2007-07-01

This dissertation provides a history of Canadian ideas about nuclear weapons from the late 1950s until the end of the Trudeau era in 1984. Throughout this period, Canadians reacted to the insecurity they felt in the world around them by expressing many conflicting, often irreconcilable views about a range of nuclear weapon issues, including Canada's acquisition of nuclear warheads in 1963, the U.S. ABM program in the 1960s and early 1970s, the role of Canadian nuclear technology in the development of India's first nuclear explosion, and the Trudeau government's decision to allow the U.S. military to test cruise missiles in northern Canada The dissertation concludes with an examination of the emergence of a broadly-based, increasingly mainstream and influential anti-nuclear movement in the early 1980s, the clearest manifestation of the insecurity Canadians experienced at the time. .The nuclear debates examined in this dissertation reveal that Canadians were divided over nuclear weapons, nuclear strategy, the arms race, proliferation, and arms control and disarmament. In particular, they came to fundamentally different conclusions about how Canada's nuclear weapon policies, and its support for the nuclear policies of its alliances, would contribute to international stability and order. Some believed that their security rested on the maintenance of a strong Western nuclear deterrent and supported Canada contributing to its credibility; others believed that the constant modernisation of nuclear arsenals fuelled by the superpower arms race posed a serious threat to their security. This conceptual dilemma-the security through nuclear strength argument versus the fear that the quest for security through quantitative and qualitative improvements of nuclear stockpiles increased the likelihood of nuclear war-left Canadians divided over the value and utility of nuclear weapons and the strategies developed around them. At the same time, Canadians

Nuclear materials stewardship: Our enduring mission

International Nuclear Information System (INIS)

Isaacs, T.H.

1998-01-01

The US Department of Energy (DOE) and its predecessors have handled a remarkably wide variety of nuclear materials over the past 50 yr. Two fundamental changes have occurred that shape the current landscape regarding nuclear materials. If one recognizes the implications and opportunities, one sees that the stewardship of nuclear materials will be a fundamental and important job of the DOE for the foreseeable future. The first change--the breakup of the Soviet Union and the resulting end to the nuclear arms race--altered US objectives. Previously, the focus was on materials production, weapon design, nuclear testing, and stockpile enhancements. Now the attention is on dismantlement of weapons, excess special nuclear material inventories, accompanying increased concern over the protection afforded to such materials; new arms control measures; and importantly, maintenance of the safety and reliability of the remaining arsenal without testing. The second change was the raised consciousness and sense of responsibility for dealing with the environmental legacies of past nuclear arms programs. Recognition of the need to clean up radioactive contamination, manage the wastes, conduct current operations responsibly, and restore the environment have led to the establishment of what is now the largest program in the DOE. Two additional features add to the challenge and drive the need for recognition of nuclear materials stewardship as a fundamental, enduring, and compelling mission of the DOE. The first is the extraordinary time frames. No matter what the future of nuclear weapons and no matter what the future of nuclear power, the DOE will be responsible for most of the country's nuclear materials and wastes for generations. Even if the Yucca Mountain program is successful and on schedule, it will last more than 100 yr. Second, the use, management, and disposition of nuclear materials and wastes affect a variety of nationally important and diverse objectives, from national